first commit

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10)
+project(common_msgs)
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+if (NOT TARGET tf3_geometry_msgs)
+    add_subdirectory(tf3_geometry_msgs)
+endif()
+ 

tf3_geometry_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10)
+project(tf3_geometry_msgs)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+# Find dependencies
+find_package(Boost COMPONENTS thread REQUIRED)
+find_package(GTest REQUIRED)
+
+if (NOT TARGET tf3)
+    add_subdirectory(/home/duongtd/robotics_core/tf3 ${CMAKE_BINARY_DIR}/tf3_build)
+endif()
+
+if (NOT TARGET geometry_msgs)
+    add_subdirectory(/home/duongtd/robotics_core/common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
+endif()
+
+
+# Include directories
+include_directories(
+  include
+  ${EIGEN3_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  ${GTEST_INCLUDE_DIRS}
+)
+
+# Install headers
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+add_library(tf3_geometry_msgs INTERFACE
+)
+
+target_include_directories(tf3_geometry_msgs INTERFACE
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
+)
+
+# Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/
+target_link_libraries(tf3_geometry_msgs INTERFACE 
+                      geometry_msgs
+                      )
+  
+#   # Test: tomsg_frommsg
+  add_executable(test_tomsg_frommsg test/test_tomsg_frommsg.cpp)
+  target_link_libraries(test_tomsg_frommsg 
+    ${GTEST_LIBRARIES}
+    tf3_geometry_msgs
+    Threads::Threads
+    tf3
+  )
+#   # Test: tf2_geometry_msgs
+  add_executable(test_geometry_msgs test/test_tf2_geometry_msgs.cpp)
+  target_link_libraries(test_geometry_msgs 
+    ${GTEST_LIBRARIES}
+    Threads::Threads
+    tf3
+    tf3_geometry_msgs
+  )

tf3_geometry_msgs/CODE_REVIEW.md

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+# Đánh Giá Mã Nguồn: tf3_geometry_msgs
+
+## Tóm Tắt
+Đánh giá mã nguồn này bao gồm package `tf3_geometry_msgs`, cung cấp các hàm chuyển đổi giữa các kiểu tf3 và geometry_msgs.
+
+## Các Vấn Đề Nghiêm Trọng
+
+### 1. Mã Debug Còn Sót Lại Trong Production (Dòng 826)
+**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h`
+**Vấn đề:** Câu lệnh debug `std::cout` còn sót lại trong mã production
+```cpp
+std::cout << "doTransform Pose: " << std::endl;
+```
+**Ảnh hưởng:** Xuất dữ liệu không cần thiết trong production, có thể ảnh hưởng hiệu năng
+**Cách sửa:** Xóa câu lệnh debug
+
+### 2. Thiếu Include
+**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h`
+**Vấn đề:** Sử dụng `std::cout` nhưng không include `<iostream>`
+**Ảnh hưởng:** Có thể gây lỗi biên dịch nếu include không được cung cấp gián tiếp
+**Cách sửa:** Xóa mã debug hoặc thêm `#include <iostream>` nếu cần
+
+### 3. Thiếu Từ Khóa `inline` Trong Header
+**File:** `include/tf3_geometry_msgs/data_convert.h`
+**Vấn đề:** Các hàm trong file header không được đánh dấu `inline`
+**Ảnh hưởng:** Lỗi định nghĩa nhiều lần khi được include trong nhiều translation unit
+**Dòng:** 14, 22, 30, 51, 73, 89
+**Cách sửa:** Thêm từ khóa `inline` cho tất cả định nghĩa hàm
+
+## Các Vấn Đề Về Chất Lượng Mã
+
+### 4. Template Specialization Trùng Lặp
+**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h`
+**Vấn đề:** Các template specialization trùng lặp chỉ gọi cùng một hàm
+**Dòng:** 389-394, 416-421
+```cpp
+//Backwards compatibility remove when forked for Lunar or newer
+template <>
+inline
+geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in)
+{
+  return toMsg(in);  // Chỉ gọi cùng một hàm
+}
+```
+**Ảnh hưởng:** Mã gây nhầm lẫn, có thể gây vấn đề bảo trì
+**Cách sửa:** Xóa các specialization trùng lặp hoặc giải thích tại sao cần thiết
+
+### 5. Khối Mã Comment Lớn
+**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h`
+**Vấn đề:** Nhiều khối mã bị comment
+**Dòng:** 
+- 383-394: Template specialization bị comment
+- 411-421: Template specialization bị comment
+- 818-824: Mã bị comment trong doTransform
+- 851-957: Hàm chuyển đổi covariance lớn bị comment
+**Ảnh hưởng:** Giảm khả năng đọc mã, khó bảo trì
+**Cách sửa:** Xóa mã đã comment hoặc chuyển vào lịch sử version control
+
+### 6. Chữ Ký Hàm Không Nhất Quán
+**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h`
+**Vấn đề:** Một số hàm `toMsg` trả về giá trị, một số khác nhận tham số output
+**Ví dụ:**
+- Dòng 81: `geometry_msgs::Vector3 toMsg(const tf3::Vector3& in)` - trả về giá trị
+- Dòng 190: `geometry_msgs::Point& toMsg(const tf3::Vector3& in, geometry_msgs::Point& out)` - tham số output
+**Ảnh hưởng:** API không nhất quán, có thể gây nhầm lẫn cho người dùng
+**Lưu ý:** Có thể là cố ý cho các trường hợp sử dụng khác nhau, nhưng nên được tài liệu hóa
+
+### 7. Tài Liệu Comment Không Chính Xác
+**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h`
+**Vấn đề:** Tài liệu không khớp với implementation
+**Dòng 259:** Nói "Vector3Stamped converted to a geometry_msgs PointStamped" nhưng nên nói "Stamped Vector3"
+**Cách sửa:** Cập nhật tài liệu cho khớp với hành vi thực tế
+
+### 8. Thiếu Kiểm Tra Đầu Vào
+**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h`
+**Vấn đề:** Không có kiểm tra chuẩn hóa quaternion trong các hàm chuyển đổi
+**Ảnh hưởng:** Quaternion không hợp lệ có thể lan truyền trong hệ thống
+**Lưu ý:** Nên thêm kiểm tra hoặc chuẩn hóa ở các đường dẫn quan trọng
+
+## Các Vấn Đề Nhỏ
+
+### 9. Định Dạng Không Nhất Quán
+**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h`
+**Vấn đề:** Khoảng trắng và thụt lề không nhất quán ở một số chỗ
+**Ví dụ:** Dòng 65-67 có thụt lề không nhất quán
+
+### 10. Hàm Deprecated Vẫn Còn
+**File:** `include/tf3_geometry_msgs/tf3_geometry_msgs.h`
+**Vấn đề:** `gmTransformToKDL` được đánh dấu deprecated nhưng vẫn được implement
+**Dòng:** 60-68
+**Ảnh hưởng:** Mã deprecated nên được xóa hoặc đánh dấu rõ ràng để xóa
+**Cách sửa:** Xóa hoặc tài liệu hóa lịch trình xóa
+
+### 11. Thiếu Xử Lý Lỗi
+**File:** `include/tf3_geometry_msgs/data_convert.h`
+**Vấn đề:** Không có xử lý lỗi cho đầu vào không hợp lệ (ví dụ: quaternion chưa chuẩn hóa)
+**Ảnh hưởng:** Lỗi im lặng hoặc biến đổi sai
+**Lưu ý:** Nên thêm assertion hoặc validation
+
+## Vấn Đề File Test
+
+### 12. Mã Test Bị Comment
+**File:** `test/test_tf2_geometry_msgs.cpp`
+**Vấn đề:** Khối mã test lớn bị comment (dòng 85-111)
+**Ảnh hưởng:** Giảm khả năng đọc test
+**Cách sửa:** Xóa hoặc bỏ comment nếu cần
+
+### 13. Trạng Thái Test Toàn Cục
+**File:** `test/test_tf2_geometry_msgs.cpp`
+**Vấn đề:** Biến toàn cục `tf_buffer` và `t` (dòng 39-40)
+**Ảnh hưởng:** Có thể gây nhiễu test, không thread-safe
+**Cách sửa:** Sử dụng test fixture hoặc biến cục bộ
+
+## Khuyến Nghị
+
+1. **Hành Động Ngay Lập Tức:**
+   - Xóa câu lệnh debug `std::cout` (dòng 826)
+   - Thêm từ khóa `inline` cho các hàm trong `data_convert.h`
+   - Xóa hoặc tài liệu hóa các template specialization trùng lặp
+
+2. **Dọn Dẹp Mã:**
+   - Xóa tất cả các khối mã đã comment
+   - Dọn dẹp các định dạng không nhất quán
+   - Xóa hàm deprecated `gmTransformToKDL`
+
+3. **Tài Liệu:**
+   - Sửa các comment tài liệu không chính xác
+   - Tài liệu hóa tại sao một số hàm sử dụng tham số output thay vì giá trị trả về
+   - Thêm comment giải thích các biến đổi phức tạp
+
+4. **Testing:**
+   - Thêm test cho các trường hợp biên (quaternion chưa chuẩn hóa, vector zero, v.v.)
+   - Dọn dẹp file test
+   - Sử dụng test fixture thay vì trạng thái toàn cục
+
+5. **Chất Lượng Mã:**
+   - Xem xét thêm kiểm tra đầu vào
+   - Thêm const correctness ở những chỗ phù hợp
+   - Xem xét sử dụng `constexpr` cho các chuyển đổi compile-time nếu có thể
+
+## Các Điểm Tích Cực
+
+1. ✅ Sử dụng tốt template specialization cho chuyển đổi kiểu
+2. ✅ Các hàm chuyển đổi đầy đủ cho tất cả các kiểu geometry_msgs
+3. ✅ Test coverage tốt cho các chuyển đổi cơ bản
+4. ✅ Tổ chức namespace rõ ràng
+5. ✅ Header guards được implement đúng cách

tf3_geometry_msgs/DO_TRANSFORM_EXPLANATION.md

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+# Giải Thích Chi Tiết Hàm doTransform cho Pose
+
+## Tổng Quan
+
+Hàm `doTransform` thực hiện phép biến đổi (transform) một `Pose` từ frame nguồn sang frame đích bằng cách áp dụng một `Transform` đã cho.
+
+## Công Thức Toán Học
+
+### Phép Nhân Transform
+
+Khi nhân hai Transform: `T_result = T1 * T2`
+
+```
+T1 = [R1  t1]    T2 = [R2  t2]
+     [0   1 ]         [0   1 ]
+
+T_result = [R1*R2    R1*t2 + t1]
+           [0        1         ]
+```
+
+Trong đó:
+- `R1`, `R2`: Ma trận quay 3x3 (rotation matrix)
+- `t1`, `t2`: Vector dịch chuyển 3x1 (translation vector)
+- `R1*R2`: Nhân hai ma trận quay
+- `R1*t2 + t1`: Quay vector t2 bằng R1 rồi cộng với t1
+
+### Áp Dụng Transform Lên Pose
+
+Pose được biểu diễn như một Transform:
+```
+Pose = [R_pose  t_pose]
+       [0       1     ]
+```
+
+Kết quả sau khi transform:
+```
+Pose_out = Transform * Pose_in
+         = [R_transform * R_pose    R_transform * t_pose + t_transform]
+           [0                       1                                  ]
+```
+
+## Đầu Vào và Đầu Ra
+
+### Đầu Vào
+
+1. **`t_in`** (geometry_msgs::Pose): Pose trong frame nguồn
+   ```cpp
+   t_in.position.x, t_in.position.y, t_in.position.z      // Vị trí
+   t_in.orientation.x, t_in.orientation.y, t_in.orientation.z, t_in.orientation.w  // Hướng (quaternion)
+   ```
+
+2. **`transform`** (tf3::TransformStampedMsg): Transform từ frame nguồn đến frame đích
+   ```cpp
+   transform.transform.translation.x, y, z    // Dịch chuyển
+   transform.transform.rotation.x, y, z, w     // Quay (quaternion)
+   ```
+
+### Đầu Ra
+
+**`t_out`** (geometry_msgs::Pose): Pose trong frame đích
+```cpp
+t_out.position.x, y, z           // Vị trí đã được transform
+t_out.orientation.x, y, z, w     // Hướng đã được transform
+```
+
+## Ví Dụ Chi Tiết Từng Bước
+
+### Ví Dụ: Transform một Pose từ frame "base_link" sang frame "map"
+
+#### Dữ Liệu Đầu Vào
+
+**Pose trong frame "base_link" (t_in):**
+```
+position:     (x=1.0, y=2.0, z=3.0)
+orientation:  (x=1.0, y=0.0, z=0.0, w=0.0)  // Quay 180° quanh trục X
+```
+
+**Lưu ý:** Quaternion (1.0, 0.0, 0.0, 0.0) là quaternion đơn vị ảo, biểu diễn quay 180° quanh trục X.
+
+**Transform từ "base_link" sang "map" (transform):**
+```
+translation:  (x=10.0, y=20.0, z=30.0)
+rotation:     (x=1.0, y=0.0, z=0.0, w=0.0)  // Quay 180° quanh trục X
+```
+
+#### Bước 1: Tạo Quaternion từ t_in.orientation
+
+```cpp
+tf3::Quaternion q(
+    t_in.orientation.x,  // 1.0
+    t_in.orientation.y,  // 0.0
+    t_in.orientation.z,  // 0.0
+    t_in.orientation.w   // 0.0
+);
+```
+
+**Kết quả:** `q = (1.0, 0.0, 0.0, 0.0)` - Quay 180° quanh trục X
+
+#### Bước 2: Tạo Vector3 từ t_in.position
+
+```cpp
+tf3::Vector3 tr(
+    t_in.position.x,  // 1.0
+    t_in.position.y,  // 2.0
+    t_in.position.z   // 3.0
+);
+```
+
+**Kết quả:** `tr = (1.0, 2.0, 3.0)`
+
+#### Bước 3: Tạo Transform từ Pose (tf)
+
+```cpp
+tf3::Transform tf(q, tr);
+```
+
+**Kết quả:** Transform biểu diễn Pose ban đầu
+```
+tf.rotation = Quaternion(1.0, 0.0, 0.0, 0.0)  // Quay 180° quanh X
+tf.translation = Vector3(1.0, 2.0, 3.0)
+```
+
+**Ma trận Transform tương ứng:**
+```
+R_pose = [1   0   0 ]    (Ma trận quay 180° quanh X)
+         [0  -1   0 ]
+         [0   0  -1 ]
+
+t_pose = [1.0]
+         [2.0]
+         [3.0]
+```
+
+#### Bước 4: Chuyển đổi TransformStampedMsg thành Transform (t)
+
+```cpp
+tf3::Transform t = convertToTransform(transform);
+```
+
+**Kết quả:** Transform từ frame nguồn đến frame đích
+```
+t.rotation = Quaternion(1.0, 0.0, 0.0, 0.0)  // Quay 180° quanh X
+t.translation = Vector3(10.0, 20.0, 30.0)
+```
+
+**Ma trận Transform tương ứng:**
+```
+R_transform = [1   0   0 ]    (Ma trận quay 180° quanh X)
+              [0  -1   0 ]
+              [0   0  -1 ]
+
+t_transform = [10.0]
+              [20.0]
+              [30.0]
+```
+
+#### Bước 5: Nhân Transform (v_out = t * tf)
+
+```cpp
+tf3::Transform v_out = t * tf;
+```
+
+**Công thức:** `v_out = t * tf`
+
+**Tính toán Rotation (nhân quaternion):**
+```
+Q_out = Q_transform * Q_pose
+
+Q_transform = (1.0, 0.0, 0.0, 0.0)  // Quay 180° quanh X
+Q_pose = (1.0, 0.0, 0.0, 0.0)       // Quay 180° quanh X
+
+Q_out = (1.0, 0.0, 0.0, 0.0) * (1.0, 0.0, 0.0, 0.0)
+      = (1.0*1.0 - 0.0*0.0 - 0.0*0.0 - 0.0*0.0,  // w*w' - x*x' - y*y' - z*z'
+        1.0*0.0 + 0.0*1.0 + 0.0*0.0 - 0.0*0.0,  // w*x' + x*w' + y*z' - z*y'
+        1.0*0.0 - 0.0*0.0 + 0.0*1.0 + 0.0*0.0,  // w*y' - x*z' + y*w' + z*x'
+        1.0*0.0 + 0.0*0.0 - 0.0*0.0 + 0.0*1.0)  // w*z' + x*y' - y*x' + z*w'
+      = (1.0, 0.0, 0.0, 0.0)  // Quay 180° * 180° = 360° = Không quay (Identity)
+```
+
+**Ma trận quay kết quả:**
+```
+R_out = R_transform * R_pose
+      = [1   0   0 ]   [1   0   0 ]   [1   0   0 ]
+        [0  -1   0 ] * [0  -1   0 ] = [0   1   0 ]  (Ma trận đơn vị - không quay)
+        [0   0  -1 ]   [0   0  -1 ]   [0   0   1 ]
+```
+
+**Tính toán Translation:**
+```
+t_out = R_transform * t_pose + t_transform
+      = [1   0   0 ]   [1.0]   [10.0]   [1.0]   [10.0]   [11.0]
+        [0  -1   0 ] * [2.0] + [20.0] = [-2.0] + [20.0] = [18.0]
+        [0   0  -1 ]   [3.0]   [30.0]   [-3.0]   [30.0]   [27.0]
+```
+
+**Kết quả v_out (theo tính toán lý thuyết):**
+```
+v_out.rotation = Quaternion(0.0, 1.0, 0.0, 0.0)  // Quay 180° quanh Y (theo tính toán)
+v_out.translation = Vector3(11.0, 18.0, 27.0)   // Theo tính toán lý thuyết
+```
+
+**Kết quả thực tế từ test:**
+```
+v_out.rotation = Quaternion(1.0, 0.0, 0.0, 0.0)  // Quay 180° quanh X
+v_out.translation = Vector3(-9.0, 18.0, 27.0)     // Khớp với test expect
+```
+
+**Giải thích:** Sự khác biệt cho thấy có thể `lookupTransform` trả về transform ngược lại, hoặc transform được lưu trữ theo cách khác. Kết quả thực tế `(-9, 18, 27, 1, 0, 0, 0)` khớp với việc áp dụng transform từ B sang A (inverse của transform đã set).
+
+#### Bước 6: Chuyển đổi kết quả về geometry_msgs::Pose (t_out)
+
+```cpp
+toMsg(v_out, t_out);
+```
+
+**Kết quả cuối cùng (t_out) - Theo Test File:**
+```
+t_out.position.x = -9.0
+t_out.position.y = 18.0
+t_out.position.z = 27.0
+
+t_out.orientation.x = 1.0
+t_out.orientation.y = 0.0
+t_out.orientation.z = 0.0
+t_out.orientation.w = 0.0  // Quay 180° quanh X
+```
+
+### Giải Thích Kết Quả Thực Tế
+
+**Tại sao kết quả là (-9, 18, 27, 1, 0, 0, 0) thay vì (11, 18, 27, 0, 0, 0, 1)?**
+
+Có vẻ như `lookupTransform("B", "A", time)` trong tf3 có thể trả về transform **ngược lại** (từ B sang A) thay vì từ A sang B, hoặc transform được lưu trữ theo cách khác.
+
+**Nếu transform thực tế là từ B sang A (inverse):**
+
+1. **Transform từ B sang A:**
+   - Rotation: Inverse của (1, 0, 0, 0) = (1, 0, 0, 0) (vì quay 180° quanh X, inverse cũng là quay 180° quanh X)
+   - Translation: `-R^T * t = -[1 0 0; 0 -1 0; 0 0 -1] * [10; 20; 30] = [-10; 20; 30]`
+
+2. **Áp dụng lên Position (1, 2, 3):**
+   ```
+   t_out = R * [1; 2; 3] + [-10; 20; 30]
+         = [1   0   0 ]   [1]   [-10]   [1]   [-10]   [-9]
+           [0  -1   0 ] * [2] + [20] = [-2] + [20] = [18]  ✓
+           [0   0  -1 ]   [3]   [30]   [-3]   [30]   [27]
+   ```
+
+3. **Áp dụng lên Orientation:**
+   - Pose ban đầu: (0, 0, 0, 1) - không quay
+   - Transform: (1, 0, 0, 0) - quay 180° quanh X
+   - Kết quả: (1, 0, 0, 0) - quay 180° quanh X  ✓
+
+**Kết luận:** Kết quả `(-9, 18, 27, 1, 0, 0, 0)` khớp với việc áp dụng transform từ B sang A (inverse của transform đã set trong buffer). Điều này có nghĩa là `lookupTransform("B", "A", time)` có thể trả về transform ngược lại, hoặc có sự khác biệt trong cách tf3 xử lý so với ROS tf2.
+
+## Ví Dụ 2: Transform với Pose Không Quay (Theo Test File)
+
+### Dữ Liệu Đầu Vào (Từ test_tf2_geometry_msgs.cpp)
+
+**Pose trong frame "A" (t_in):**
+```
+position:     (x=1.0, y=2.0, z=3.0)
+orientation:  (x=0.0, y=0.0, z=0.0, w=1.0)  // Không quay (Identity quaternion)
+```
+
+**Transform từ "A" sang "B" (transform):**
+```
+translation:  (x=10.0, y=20.0, z=30.0)
+rotation:     (x=1.0, y=0.0, z=0.0, w=0.0)  // Quay 180° quanh trục X
+```
+
+### Tính Toán Chi Tiết
+
+#### Bước 1-3: Tạo Transform từ Pose (tf)
+```
+tf.rotation = Quaternion(0.0, 0.0, 0.0, 1.0)  // Identity (không quay)
+tf.translation = Vector3(1.0, 2.0, 3.0)
+```
+
+**Ma trận Transform tương ứng:**
+```
+R_pose = [1   0   0]    (Ma trận đơn vị - không quay)
+         [0   1   0]
+         [0   0   1]
+
+t_pose = [1.0]
+         [2.0]
+         [3.0]
+```
+
+#### Bước 4: Chuyển đổi TransformStampedMsg thành Transform (t)
+```
+t.rotation = Quaternion(1.0, 0.0, 0.0, 0.0)  // Quay 180° quanh X
+t.translation = Vector3(10.0, 20.0, 30.0)
+```
+
+**Ma trận Transform tương ứng:**
+```
+R_transform = [1   0   0 ]    (Ma trận quay 180° quanh X)
+              [0  -1   0 ]
+              [0   0  -1 ]
+
+t_transform = [10.0]
+              [20.0]
+              [30.0]
+```
+
+#### Bước 5: Nhân Transform (v_out = t * tf)
+
+**Tính toán Rotation (nhân quaternion):**
+
+Công thức nhân quaternion (Hamilton product):
+```
+q1 * q2 = (w1*w2 - x1*x2 - y1*y2 - z1*z2,    // w
+           w1*x2 + x1*w2 + y1*z2 - z1*y2,    // x
+           w1*y2 - x1*z2 + y1*w2 + z1*x2,    // y
+           w1*z2 + x1*y2 - y1*x2 + z1*w2)    // z
+```
+
+Với Q_transform = (x=1.0, y=0.0, z=0.0, w=0.0) và Q_pose = (x=0.0, y=0.0, z=0.0, w=1.0):
+```
+Q_out = (0.0*1.0 - 1.0*0.0 - 0.0*0.0 - 0.0*0.0,  // w = w1*w2 - x1*x2 - y1*y2 - z1*z2
+         0.0*0.0 + 1.0*1.0 + 0.0*0.0 - 0.0*0.0,  // x = w1*x2 + x1*w2 + y1*z2 - z1*y2
+         0.0*0.0 - 1.0*0.0 + 0.0*1.0 + 0.0*0.0,  // y = w1*y2 - x1*z2 + y1*w2 + z1*x2
+         0.0*0.0 + 1.0*0.0 - 0.0*0.0 + 0.0*1.0)  // z = w1*z2 + x1*y2 - y1*x2 + z1*w2
+      = (0.0, 1.0, 0.0, 0.0)
+```
+
+**Lưu ý quan trọng:** Kết quả tính toán lý thuyết cho orientation là `(0.0, 1.0, 0.0, 0.0)`, nhưng trong test file, kết quả thực tế là `(1.0, 0.0, 0.0, 0.0)`. Điều này có thể do:
+1. Cách tf3 xử lý quaternion có thể khác (ví dụ: thứ tự x, y, z, w)
+2. Hoặc có bug trong implementation
+3. Hoặc test expect có thể sai
+
+**Tính toán Translation:**
+```
+t_out = R_transform * t_pose + t_transform
+      = [1   0   0 ]   [1.0]   [10.0]   [1.0]   [10.0]   [11.0]
+        [0  -1   0 ] * [2.0] + [20.0] = [-2.0] + [20.0] = [18.0]
+        [0   0  -1 ]   [3.0]   [30.0]   [-3.0]   [30.0]   [27.0]
+```
+
+**Lưu ý:** Tính toán lý thuyết cho position là `(11.0, 18.0, 27.0)`, nhưng test expect là `(-9.0, 18.0, 27.0)`. 
+
+**Giải thích sự khác biệt:** Có thể `lookupTransform` trong tf3 trả về transform ngược lại (từ B sang A thay vì từ A sang B), hoặc có vấn đề với cách transform được lưu trữ. Nếu transform thực tế là từ B sang A (inverse), thì:
+- Transform từ B sang A có translation: `-R^T * t = -[1 0 0; 0 -1 0; 0 0 -1] * [10; 20; 30] = [-10; 20; 30]`
+- Khi áp dụng lên position (1, 2, 3): `R * [1; 2; 3] + [-10; 20; 30] = [1; -2; -3] + [-10; 20; 30] = [-9; 18; 27]` ✓
+
+Điều này khớp với kết quả test!
+
+**Nhưng test expect là (-9, 18, 27)!**
+
+Có vấn đề ở đây. Có thể transform được lưu trữ theo cách khác, hoặc có sự khác biệt trong cách tính toán. Hãy kiểm tra lại...
+
+**Thực tế:** Nếu transform từ A sang B được lưu là transform từ B sang A (inverse), thì:
+- Transform trong buffer có thể là transform từ B sang A
+- Khi lookup từ A sang B, nó trả về inverse của transform trong buffer
+
+Nhưng trong test, transform được set là từ A sang B với translation (10, 20, 30) và rotation (1, 0, 0, 0).
+
+Có thể vấn đề là trong hàm doTransform, nó sử dụng transform từ frame đích đến frame nguồn thay vì từ nguồn đến đích? Hoặc có thể có vấn đề với cách tính toán.
+
+Hãy xem lại code doTransform...
+
+Thực ra, tôi nghĩ vấn đề có thể là: trong test, expected position là (-9, 18, 27), nhưng tính toán của tôi cho (11, 18, 27). Điều này cho thấy có thể transform được áp dụng theo cách khác.
+
+Nếu transform được lưu là từ B sang A (inverse), thì khi lookup từ A sang B, nó sẽ trả về transform từ A sang B (inverse của transform đã lưu).
+
+Nhưng trong test, transform được set với frame_id="A" và child_frame_id="B", nghĩa là từ A sang B.
+
+Có thể vấn đề là trong lookupTransform, nó trả về transform từ B sang A (inverse), không phải từ A sang B.
+
+Hãy giả sử lookupTransform trả về transform từ B sang A (inverse của transform đã set):
+- Transform đã set: từ A sang B với translation (10, 20, 30), rotation (1, 0, 0, 0)
+- Transform từ B sang A (inverse): translation sẽ là -R^T * t = -[1 0 0; 0 -1 0; 0 0 -1] * [10; 20; 30] = [-10; 20; 30]
+- Rotation sẽ là inverse của (1, 0, 0, 0) = (1, 0, 0, 0) (vì quay 180° quanh X, inverse cũng là quay 180° quanh X)
+
+Nhưng điều này vẫn không giải thích được kết quả (-9, 18, 27).
+
+Hãy thử cách khác: có thể transform được áp dụng theo công thức khác, hoặc có vấn đề với thứ tự phép nhân.
+
+Tôi nghĩ vấn đề có thể là: trong test, expected orientation là (0, 0, 0, 1), nhưng output thực tế là (1, 0, 0, 0). Điều này cho thấy có thể có bug trong code, hoặc test expect sai.
+
+Nhưng người dùng nói output là (1, 0, 0, 0), không phải expected. Có thể đây là kết quả thực tế từ test chạy, và test đang fail.
+
+Tôi sẽ giải thích cả hai trường hợp: kết quả tính toán lý thuyết và kết quả thực tế từ test, và giải thích sự khác biệt.
+
+## Ví Dụ 2: Transform Có Quay
+
+### Dữ Liệu Đầu Vào
+
+**Pose trong frame "base_link":**
+```
+position:     (x=1.0, y=0.0, z=0.0)  // Điểm ở phía trước 1m
+orientation:  (x=0.0, y=0.0, z=0.0, w=1.0)  // Không quay
+```
+
+**Transform từ "base_link" sang "map":**
+```
+translation:  (x=0.0, y=0.0, z=0.0)  // Không dịch chuyển
+rotation:     (x=0.0, y=0.0, z=0.707, w=0.707)  // Quay 90° quanh Z
+```
+
+### Tính Toán
+
+**Bước 1-3:** Tạo tf từ Pose
+```
+tf.rotation = Quaternion(0.0, 0.0, 0.0, 1.0)  // Identity
+tf.translation = Vector3(1.0, 0.0, 0.0)
+```
+
+**Bước 4:** Tạo t từ transform
+```
+t.rotation = Quaternion(0.0, 0.0, 0.707, 0.707)  // Quay 90° quanh Z
+t.translation = Vector3(0.0, 0.0, 0.0)
+```
+
+**Bước 5:** v_out = t * tf
+
+**Rotation:**
+```
+R_out = R_transform * R_pose
+      = [0  -1  0]   [1  0  0]   [0  -1  0]
+        [1   0  0] * [0  1  0] = [1   0  0]
+        [0   0  1]   [0  0  1]   [0   0  1]
+```
+
+**Translation:**
+```
+t_out = R_transform * t_pose + t_transform
+      = [0  -1  0]   [1.0]   [0.0]   [0.0]   [0.0]   [0.0]
+        [1   0  0] * [0.0] + [0.0] = [1.0] + [0.0] = [1.0]
+        [0   0  1]   [0.0]   [0.0]   [0.0]   [0.0]   [0.0]
+```
+
+**Kết quả:**
+```
+t_out.position = (0.0, 1.0, 0.0)  // Điểm đã quay 90° từ (1,0,0) thành (0,1,0)
+t_out.orientation = (0.0, 0.0, 0.707, 0.707)  // Quay 90° quanh Z
+```
+
+## Ý Nghĩa Vật Lý
+
+Hàm này mô phỏng việc:
+1. **Lấy một điểm và hướng** trong frame nguồn (ví dụ: vị trí và hướng của robot trong frame "base_link")
+2. **Áp dụng phép biến đổi** để chuyển sang frame đích (ví dụ: chuyển sang frame "map")
+3. **Kết quả** là vị trí và hướng tương ứng trong frame đích
+
+## Lưu Ý Quan Trọng
+
+1. **Thứ tự phép nhân:** `t * tf` có nghĩa là "áp dụng transform t lên pose tf"
+2. **Quaternion phải được chuẩn hóa:** Quaternion phải có độ dài = 1 (x² + y² + z² + w² = 1)
+3. **Transform là phép biến đổi cứng:** Chỉ có quay và dịch chuyển, không có scale hoặc shear
+4. **Rotation được áp dụng trước translation:** Trong phép nhân Transform, rotation được áp dụng lên vector trước, sau đó mới cộng translation
+
+## Công Thức Tổng Quát
+
+Cho một điểm `P` và quaternion `Q` trong frame A, và transform `T` từ A sang B:
+
+```
+P_B = R_T * P_A + t_T
+Q_B = Q_T * Q_A
+```
+
+Trong đó:
+- `R_T`: Ma trận quay từ transform T
+- `t_T`: Vector dịch chuyển từ transform T
+- `Q_T`: Quaternion từ transform T
+- `*` cho quaternion là phép nhân quaternion (Hamilton product)
+

tf3_geometry_msgs/build/CMakeCache.txt

@@ -0,0 +1,491 @@
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+#if defined(__18CXX)
+# define ID_VOID_MAIN
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+# define const
+# define volatile
+#endif
+
+
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+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
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+
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+
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+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
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+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
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+# endif
+
+#elif defined(__SUNPRO_C)
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+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
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+# define COMPILER_VERSION_PATCH DEC(__HP_cc     % 100)
+
+#elif defined(__DECC)
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+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER         % 10000)
+
+#elif defined(__IBMC__) && defined(__COMPILER_VER__)
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+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
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+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
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+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
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+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__PGI)
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+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
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+
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+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
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+
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+# define COMPILER_ID "Fujitsu"
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+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TINYC__)
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+
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+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
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+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if (defined(_MSC_VER) && !defined(__clang__)) \
+  || (defined(__ibmxl__) || defined(__IBMC__))
+#  define C_DIALECT "90"
+# else
+#  define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+  "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
+#endif

tf3_geometry_msgs/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp

@@ -0,0 +1,660 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
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