Cut over to Bazel.

.gitignore

@@ -7,3 +7,7 @@
 /docs/xml/
 docs/sphinx/_build/
 docs/sphinx/api/
+/bazel-bin/
+/bazel-out/
+/bazel-testlogs/
+/bazel-wrmath/

CMakeLists.txt

@@ -15,7 +15,7 @@ set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 
 # Don't warn on unused functions, because this is a library and not all
 # functions might be used.
-add_compile_options(-Werror -Wno-unused-function -Wall -g -O0)
+# add_compile_options(-Werror -Wno-unused-function -Wall -g -O0)
 
 if (DEFINED ENV{CMAKE_GCOV})
 add_compile_options(-fprofile-arcs -ftest-coverage)
@@ -29,10 +29,10 @@ message(STATUS, "Code coverage enabled.")
 endif()
 
 
-include_directories(include)
+include_directories(wrmath)
 
-file(GLOB_RECURSE ${PROJECT_NAME}_HEADERS include/**.h)
-file(GLOB_RECURSE ${PROJECT_NAME}_SOURCES src/*.cc)
+file(GLOB_RECURSE ${PROJECT_NAME}_HEADERS wrmath/**.h)
+file(GLOB_RECURSE ${PROJECT_NAME}_SOURCES wrmath/*.cc)
 
 
 ## BUILD
@@ -109,4 +109,4 @@ include(CMakePack.txt)
 
 
 ## DOCUMENTATE
-add_subdirectory ("docs")
+## add_subdirectory ("docs")

WORKSPACE

@@ -0,0 +1,8 @@
+load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
+
+http_archive(
+    name = "com_google_googletest",
+    sha256 = "983a7f2f4cc2a4d75d94ee06300c46a657291fba965e355d11ab3b6965a7b0e5",
+    strip_prefix = "googletest-b796f7d44681514f58a683a3a71ff17c94edb0c1",
+    urls = ["https://github.com/google/googletest/archive/b796f7d44681514f58a683a3a71ff17c94edb0c1.zip"],
+)

docs/sphinx/conf.py

@@ -72,7 +72,7 @@ exhale_args = {
     "createTreeView":        True,
     "exhaleExecutesDoxygen": True,
     "exhaleDoxygenStdin":    """
-INPUT = ../../include ../../src
+INPUT = ../../include ../../wrmath
 USE_XML = YES
 """
 }

extern/googletest

@@ -1 +0,0 @@
-Subproject commit 4e29e48840e611ecbef33d10960d7480d2e9034a

test/BUILD.bazel

@@ -0,0 +1,39 @@
+cc_test(
+    name = "madgwick_test",
+    size = "small",
+    srcs = ["madgwick_test.cc"],
+    deps = [
+        "//wrmath",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "orientation_test",
+    size = "small",
+    srcs = ["orientation_test.cc"],
+    deps = [
+        "//wrmath",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "quaternion_test",
+    size = "small",
+    srcs = ["quaternion_test.cc"],
+    deps = [
+        "//wrmath",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_test(
+    name = "vector_test",
+    size = "small",
+    srcs = ["vector_test.cc"],
+    deps = [
+        "//wrmath",
+        "@com_google_googletest//:gtest_main",
+    ],
+)

tools/BUILD.bazel

@@ -0,0 +1,11 @@
+cc_binary(
+    name = "euler2quat",
+    srcs = ["euler2quat.cc"],
+    deps = ["//wrmath"],
+)
+
+cc_binary(
+    name = "quaternion",
+    srcs = ["quaternion.cc"],
+    deps = ["//wrmath"],
+)

wrmath/BUILD.bazel

@@ -0,0 +1,6 @@
+cc_library(
+    name = "wrmath",
+    srcs = glob(["*.cc"]),
+    hdrs = glob(["**/*.h"]),
+    visibility = ["//visibility:public"],
+)

wrmath/geom/quaternion.h

@@ -5,6 +5,7 @@
 
 
 #include <cassert>
+#define _USE_MATH_DEFINES
 #include <cmath>
 #include <initializer_list>
 #include <iostream>

wrmath/math.h

@@ -3,9 +3,15 @@
 #define __WRMATH_UTIL_MATH_H
 
 
+#define _USE_MATH_DEFINES
 #include <cmath>
 
 
+#ifndef M_PI
+#define M_PI 3.14159265359
+#endif
+
+
 namespace wr {
 /// math contains utility math functions.
 namespace math {