# LuPNT
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[](https://colab.research.google.com/drive/1yhHImp3hB5P8dadLlv0CcYWQWLabNfuh)
<!-- [](https://anaconda.org/conda-forge/pylupnt) -->
<p align="center">
<img src="https://github.com/Stanford-NavLab/LuPNT/blob/guillemc/docs/_static/LuPNT_background.png?raw=true" width="auto" />
</p>
`LuPNT` is an open-source C++/Python library for Lunar Positioning, Navigation, and Timing (PNT) Research. This project is a product of the [Stanford NAV Lab](https://navlab.stanford.edu/).
If using this project in your own work please cite the following:
```bibtex
@inproceedings{IiyamaCasadesus2023,
title = {LuPNT: Open-Souce Simulator for Lunar Positioning, Navigation, and Timing},
author={Iiyama, Keidai and Casadesus Vila, Guillem and Gao, Grace},
booktitle={Proceedings of the Institute of Navigation Gnss+ conference (ION Gnss+ 2023)},
institution = {Stanford University},
year = {2023},
url = {https://github.com/Stanford-NavLab/LuPNT},
}
```
## Features
- [Modern CMake practices](https://pabloariasal.github.io/2018/02/19/its-time-to-do-cmake-right/)
- Clean separation of library and executable code
- Integrated test suite
- Continuous integration via [GitHub Actions](https://help.github.com/en/actions/)
- Code coverage via [codecov](https://codecov.io)
- Code formatting enforced by [clang-format](https://clang.llvm.org/docs/ClangFormat.html) and [cmake-format](https://github.com/cheshirekow/cmake_format) via [Format.cmake](https://github.com/Stanford-NavLab/Format.cmake)
- Reproducible dependency management via [CPM.cmake](https://github.com/Stanford-NavLab/CPM.cmake)
- Installable target with automatic versioning information and header generation via [PackageProject.cmake](https://github.com/Stanford-NavLab/PackageProject.cmake)
- Automatic [documentation](https://Stanford-NavLab.github.io/LuPNT) and deployment with [Doxygen](https://www.doxygen.nl) and [GitHub Pages](https://pages.github.com)
- Support for [sanitizer tools, and more](#additional-tools)
## Usage
To cleanly separate the library and subproject code, the outer `CMakeList.txt` only defines the library itself while the tests and other subprojects are self-contained in their own directories.
During development it is usually convenient to [build all subprojects at once](#build-everything-at-once).
### Dependencies
LuPNT requires [OpenMP](https://www.openmp.org) library for multiprocessing and a data directory.
The installation scripts for MacOS, Ubuntu, and Windows can be found under `scripts`.
Note that the data directory can be place anywhere as long as its path is correctly set.
Execute the scripts before building the library.
### Build and run the examples
Use the following command to build and run the executable target.
```bash
cmake -S examples/cpp -B build/examples
cmake --build build/examples -j4
./build_examples/examples/<example-name> --help
```
### Build and run test suite
Use the following commands from the project's root directory to run the test suite.
```bash
cmake -S test -B build/test
cmake --build build/test -j4
CTEST_OUTPUT_ON_FAILURE=1 cmake --build build/test --target test
# or simply call the executable:
./build/test/LuPNTTests
```
To collect code coverage information, run CMake with the `-DENABLE_TEST_COVERAGE=1` option.
### Run clang-format
Use the following commands from the project's root directory to check and fix C++ and CMake source style.
This requires _clang-format_, _cmake-format_ and _pyyaml_ to be installed on the current system.
```bash
cmake -S test -B build/test
# view changes
cmake --build build/test --target format
# apply changes
cmake --build build/test --target fix-format
```
See [Format.cmake](https://github.com/Stanford-NavLab/Format.cmake) for details.
These dependencies can be easily installed using pip.
```bash
pip install clang-format==14.0.6 cmake_format==0.6.11 pyyaml
```
### Build the documentation
The documentation is automatically built and [published](https://Stanford-NavLab.github.io/LuPNT) whenever a [GitHub Release](https://help.github.com/en/github/administering-a-repository/managing-releases-in-a-repository) is created.
To manually build documentation, call the following command.
```bash
cmake -S documentation -B build/doc
cmake --build build/doc --target GenerateDocs
# view the docs
open build/doc/doxygen/html/index.html
```
To build the documentation locally, you will need Doxygen, jinja2 and Pygments installed on your system.
### Build everything at once
The project also includes an `all` directory that allows building all targets at the same time.
This is useful during development, as it exposes all subprojects to your IDE and avoids redundant builds of the library.
```bash
cmake -S all -B build
cmake --build build -j4
# run tests
./build/test/LuPNTTests
# format code
cmake --build build --target fix-format
# run standalone
./build/standalone/LuPNT --help
# build docs
cmake --build build --target GenerateDocs
```
### Additional tools
The test and standalone subprojects include the [tools.cmake](cmake/tools.cmake) file which is used to import additional tools on-demand through CMake configuration arguments.
The following are currently supported.
#### Sanitizers
Sanitizers can be enabled by configuring CMake with `-DUSE_SANITIZER=<Address | Memory | MemoryWithOrigins | Undefined | Thread | Leak | 'Address;Undefined'>`.
#### Static Analyzers
Static Analyzers can be enabled by setting `-DUSE_STATIC_ANALYZER=<clang-tidy | iwyu | cppcheck>`, or a combination of those in quotation marks, separated by semicolons.
By default, analyzers will automatically find configuration files such as `.clang-format`.
Additional arguments can be passed to the analyzers by setting the `CLANG_TIDY_ARGS`, `IWYU_ARGS` or `CPPCHECK_ARGS` variables.
#### Ccache
Ccache can be enabled by configuring with `-DUSE_CCACHE=<ON | OFF>`.
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"description": "# LuPNT\n\n[](https://github.com/Stanford-NavLab/LuPNT/actions)\n[](https://github.com/Stanford-NavLab/LuPNT/actions)\n[](https://github.com/Stanford-NavLab/LuPNT/actions)\n[](https://github.com/Stanford-NavLab/LuPNT/actions)\n[](https://github.com/Stanford-NavLab/LuPNT/actions)\n[](https://github.com/Stanford-NavLab/LuPNT/actions)\n[](https://github.com/Stanford-NavLab/LuPNT/actions)\n[](https://github.com/Stanford-NavLab/LuPNT/actions)\n[](https://opensource.org/licenses/MIT)\n[](https://pypi.org/project/pylupnt)\n[](https://pypi.org/project/pylupnt)\n[](https://codecov.io/gh/Stanford-NavLab/LuPNT)\n[](https://mybinder.org/v2/gh/Stanford-NavLab/LuPNT/development?labpath=examples%2Fpython%2Fnotebooks%2Fex_frozen_orbits.ipynb)\n[](https://colab.research.google.com/drive/1yhHImp3hB5P8dadLlv0CcYWQWLabNfuh)\n\n\n<!-- [](https://anaconda.org/conda-forge/pylupnt) -->\n\n<p align=\"center\">\n <img src=\"https://github.com/Stanford-NavLab/LuPNT/blob/guillemc/docs/_static/LuPNT_background.png?raw=true\" width=\"auto\" />\n</p>\n\n`LuPNT` is an open-source C++/Python library for Lunar Positioning, Navigation, and Timing (PNT) Research. This project is a product of the [Stanford NAV Lab](https://navlab.stanford.edu/).\nIf using this project in your own work please cite the following:\n\n```bibtex\n@inproceedings{IiyamaCasadesus2023,\n title = {LuPNT: Open-Souce Simulator for Lunar Positioning, Navigation, and Timing},\n author={Iiyama, Keidai and Casadesus Vila, Guillem and Gao, Grace},\n booktitle={Proceedings of the Institute of Navigation Gnss+ conference (ION Gnss+ 2023)},\n institution = {Stanford University},\n year = {2023},\n url = {https://github.com/Stanford-NavLab/LuPNT},\n}\n```\n\n## Features\n\n- [Modern CMake practices](https://pabloariasal.github.io/2018/02/19/its-time-to-do-cmake-right/)\n- Clean separation of library and executable code\n- Integrated test suite\n- Continuous integration via [GitHub Actions](https://help.github.com/en/actions/)\n- Code coverage via [codecov](https://codecov.io)\n- Code formatting enforced by [clang-format](https://clang.llvm.org/docs/ClangFormat.html) and [cmake-format](https://github.com/cheshirekow/cmake_format) via [Format.cmake](https://github.com/Stanford-NavLab/Format.cmake)\n- Reproducible dependency management via [CPM.cmake](https://github.com/Stanford-NavLab/CPM.cmake)\n- Installable target with automatic versioning information and header generation via [PackageProject.cmake](https://github.com/Stanford-NavLab/PackageProject.cmake)\n- Automatic [documentation](https://Stanford-NavLab.github.io/LuPNT) and deployment with [Doxygen](https://www.doxygen.nl) and [GitHub Pages](https://pages.github.com)\n- Support for [sanitizer tools, and more](#additional-tools)\n\n## Usage\n\nTo cleanly separate the library and subproject code, the outer `CMakeList.txt` only defines the library itself while the tests and other subprojects are self-contained in their own directories.\nDuring development it is usually convenient to [build all subprojects at once](#build-everything-at-once).\n\n### Dependencies\n\nLuPNT requires [OpenMP](https://www.openmp.org) library for multiprocessing and a data directory.\nThe installation scripts for MacOS, Ubuntu, and Windows can be found under `scripts`.\nNote that the data directory can be place anywhere as long as its path is correctly set.\nExecute the scripts before building the library.\n\n### Build and run the examples\n\nUse the following command to build and run the executable target.\n\n```bash\ncmake -S examples/cpp -B build/examples\ncmake --build build/examples -j4\n./build_examples/examples/<example-name> --help\n```\n\n### Build and run test suite\n\nUse the following commands from the project's root directory to run the test suite.\n\n```bash\ncmake -S test -B build/test\ncmake --build build/test -j4\nCTEST_OUTPUT_ON_FAILURE=1 cmake --build build/test --target test\n\n# or simply call the executable:\n./build/test/LuPNTTests\n```\n\nTo collect code coverage information, run CMake with the `-DENABLE_TEST_COVERAGE=1` option.\n\n### Run clang-format\n\nUse 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