chore: remove unused code

.gitignore

@@ -5,3 +5,5 @@
 # pixi environments
 .pixi
 
+*.png
+*.dot

gbp_multivariate_normal/Cargo.toml

@@ -15,5 +15,9 @@ ndarray-inverse = "0.1.9"
 ndarray.workspace = true
 thiserror.workspace = true
 
+[dev-dependencies]
+pretty_assertions = "1.4.0"
+
+
 [lints]
 workspace = true

gbpplanner-rs/Cargo.toml

@@ -15,6 +15,7 @@ rust-version.workspace = true
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
+gbp_linalg = { path = "../gbp_linalg" }
 # gbp-rs = { path = "../gbp-rs" }
 # gbp-linalg = { path = "../gbp-linalg" }
 # bevy = { version = "0.12.1", default-features = true, features = [

gbpplanner-rs/src/planner/mod.rs

@@ -12,109 +12,14 @@ pub use factorgraph::NodeIndex;
 pub use robot::RobotId;
 pub use robot::RobotState;
 
-pub type Timestep = u32;
-
-// pub trait Scalar: num_traits::Float + Copy + std::fmt::Debug {}
-// impl Scalar for f32 {}
-// impl Scalar for f64 {}
-
-// only available on nightly :(
-// pub type Vector<T> = ndarray::Array1<T: Scalar>;
-// pub type Matrix<T> = ndarray::Array2<T: Scalar>;
-pub type Vector<T> = ndarray::Array1<T>;
-pub type Matrix<T> = ndarray::Array2<T>;
+use gbp_linalg::*;
 
-// TODO: finish and implement
-pub trait VectorNorm {
-    type Scalar: NdFloat;
-    fn euclidean_norm(&self) -> Self::Scalar;
-    fn l1_norm(&self) -> Self::Scalar;
-
-    #[inline(always)]
-    fn l2_norm(&self) -> Self::Scalar {
-        self.euclidean_norm()
-    }
-}
-
-macro_rules! vector_norm_impl {
-    ($float:ty) => {
-        impl VectorNorm for Vector<$float> {
-            type Scalar = $float;
-            fn euclidean_norm(&self) -> Self::Scalar {
-                <$float>::sqrt(self.fold(0.0, |acc, x| acc + x * x))
-                // self.dot(&self).sqrt()
-            }
-            fn l1_norm(&self) -> Self::Scalar {
-                self.fold(0.0, |acc, x| acc + x.abs())
-            }
-        }
-    };
-}
-
-vector_norm_impl!(f32);
-vector_norm_impl!(f64);
-
-pub trait NdarrayVectorExt: Clone {
-    type Scalar: NdFloat;
-    fn normalize(&mut self);
-    fn normalized(self) -> Self {
-        let mut copy = self.clone();
-        copy.normalize();
-        copy
-    }
-    // fn euclidian_norm(&self) -> Self::Scalar;
-}
-
-macro_rules! ndarray_vector_ext_impl {
-    ($float:ty) => {
-        impl NdarrayVectorExt for Vector<$float> {
-            type Scalar = $float;
-            fn normalize(&mut self) {
-                let len = self.len() as $float;
-                self.map_mut(|x| *x / len);
-            }
-        }
-    };
-}
-
-// TODO: write test cases for impls
-ndarray_vector_ext_impl!(f32);
-ndarray_vector_ext_impl!(f64);
-
-// impl NdarrayVectorExt for Vector<f32> {
-//     type Scalar = f32;
-//     fn normalize(self) -> Self {
-//         let len = self.len() as f32;
-//         self.mapv_into(|x| x / len)
-//     }
-// }
-
-// pub trait NdarrayVectorExt<T>
-// where
-//     T: NdFloat,
-// {
-//     fn normalize(self) -> Self {
-//         // Provide a default implementation using generics
-//         let norm = self.dot(self).sqrt();
-//         self.mapv_into(|x| x / norm)
-//     }
-// }
-
-// impl<T> NdarrayVectorExt<T> for Vector<T> where T: NdFloat {}
-
-// impl<T> TryFrom<Vector<T>> for bevy::math::Vec2 {
-//     type Error = &'static str;
-
-//     fn try_from(value: Vector<T>) -> Result<Self, Self::Error> {
-//         todo!()
-//     }
-// }
+pub type Timestep = u32;
 
 use self::robot::RobotPlugin;
 use self::spawner::SpawnerPlugin;
 use bevy::prelude::*;
-use ndarray::NdFloat;
-// use ndarray_linalg::Lapack;
+// use ndarray::NdFloat;
 
 pub struct PlannerPlugin;
 

rustfmt.toml

@@ -2,7 +2,7 @@ blank_lines_lower_bound = 1
 format_code_in_doc_comments = true
 format_strings = true
 hex_literal_case = "Upper"
-max_width = 90
+max_width = 100
 imports_granularity = "Crate"
 normalize_comments = true
 normalize_doc_attributes = true