Update notes

README.md

@@ -2,7 +2,7 @@
 # spanny2
 Robot arm project for CppCon 2024 presentation.
 
-# Development Container
+# development container
 Build a new development image
 ```shell
 mkdir -p ~/.spanny2/ccache
@@ -18,64 +18,12 @@ cmake -S src/spanny2/ -B build
 cmake --build build
 ```
 
-# Run
+# run
 ```shell
 username@spanny-dev:~/ws$ ./build/mappy
 ```
 
-# Orphans
+# remove orphaned containers
 ```shell
 docker compose -f compose.dev.yml down --remove-orphans
 ```
-
-# Title
-spanny 2: rise of std::mdspan
-# Abstract
-C++23 introduced std::mdspan, a multi-dimensional view type that expanded on the capabilities of its predecessors, std::span and std::string_view, by eliminating the restriction to view into contiguous blocks of memory. Multidimensional array-type data structures are commonly used in robotics applications such as RGB and depth images, as well as occupancy grids for navigation. While these alone present a compelling alternative to hand-rolled data structures, this talk will illustrate the flexibility of the layout and accessor policy customization points included in std::mdspan, demonstrating its potential through various examples, including helping a robot arm inventory beer bottles.
-This talk will review conventional use cases of std::mdspan in robotics, such as occupancy grids and submaps for determining obstacles and collision checking with polygonal footprints, as well as handling camera images retrieved after deep learning inference. Additionally, we will discuss commanding single and dual robot arms for inventory inspection using synchronous and asynchronous strategies via the std::mdspan accessor policy and std::future.
-
-While these toy examples may have speculative applications, they highlight the flexibility and extensibility of this new data structure for novel use cases.
-
-# Outline
-## Introduction
-- Brief overview of the presentation
-- Introduction to std::mdspan in C++23
-
-## Motivations for std::mdspan
-- Historical background: limitations of previous non-owning types (std::span, std::string_view)
-- The need for more flexible view types in C++
-
-## Features of std::mdspan
-- Multi-dimensional view type without memory layout restrictions
-- Customization points: layout and accessor policies
-
-## Conventional Use Cases in Robotics
-- Occupancy grids and cost-maps
-- Submaps for navigation and localization
-- Polygonal views and arbitrary layouts for collision checking
-- Accessor policies interfacing with GPUs (e.g., CUDA calls)
-
-## Beer Inspection Use Cases
-- Synchronous command of a single robot arm
-- Synchronous command of dual robot arms
-- Asynchronous command of dual robot arms for optimized path planning
-
-## Conclusion
-- Summary of mdspan features and benefits
-- Discussion of use cases in fleet management and warehouse inventory control
-- Using std::mdspan to access cloud resources asynchronously
-- Potential impact on robotics and other fields
-- Speculation on future applications and developments
-
-## References
-mdspan proposal
-https://www.open-std.org/jtc1/sc22/wg21/docs/papers/2022/p0009r18.html
-
-Timur Doumler talk
-https://youtu.be/eD-ceG-oByA?si=FYk_cG3dNPIHiF2h
-
-Bryce Lelback talk
-https://youtu.be/aFCLmQEkPUw?si=zWybvW7JAOO33yVV
-
-Three skew rotation
-https://youtu.be/1LCEiVDHJmc?si=kjbLFjp8XldHnzO1

presentation/ABSTRACT.md

@@ -0,0 +1,51 @@
+# Title
+spanny 2: rise of std::mdspan
+# Abstract
+C++23 introduced std::mdspan, a multi-dimensional view type that expanded on the capabilities of its predecessors, std::span and std::string_view, by eliminating the restriction to view into contiguous blocks of memory. Multidimensional array-type data structures are commonly used in robotics applications such as RGB and depth images, as well as occupancy grids for navigation. While these alone present a compelling alternative to hand-rolled data structures, this talk will illustrate the flexibility of the layout and accessor policy customization points included in std::mdspan, demonstrating its potential through various examples, including helping a robot arm inventory beer bottles.
+This talk will review conventional use cases of std::mdspan in robotics, such as occupancy grids and submaps for determining obstacles and collision checking with polygonal footprints, as well as handling camera images retrieved after deep learning inference. Additionally, we will discuss commanding single and dual robot arms for inventory inspection using synchronous and asynchronous strategies via the std::mdspan accessor policy and std::future.
+
+While these toy examples may have speculative applications, they highlight the flexibility and extensibility of this new data structure for novel use cases.
+
+# Outline
+## Introduction
+- Brief overview of the presentation
+- Introduction to std::mdspan in C++23
+
+## Motivations for std::mdspan
+- Historical background: limitations of previous non-owning types (std::span, std::string_view)
+- The need for more flexible view types in C++
+
+## Features of std::mdspan
+- Multi-dimensional view type without memory layout restrictions
+- Customization points: layout and accessor policies
+
+## Conventional Use Cases in Robotics
+- Occupancy grids and cost-maps
+- Submaps for navigation and localization
+- Polygonal views and arbitrary layouts for collision checking
+- Accessor policies interfacing with GPUs (e.g., CUDA calls)
+
+## Beer Inspection Use Cases
+- Synchronous command of a single robot arm
+- Synchronous command of dual robot arms
+- Asynchronous command of dual robot arms for optimized path planning
+
+## Conclusion
+- Summary of mdspan features and benefits
+- Discussion of use cases in fleet management and warehouse inventory control
+- Using std::mdspan to access cloud resources asynchronously
+- Potential impact on robotics and other fields
+- Speculation on future applications and developments
+
+## References
+mdspan proposal
+https://www.open-std.org/jtc1/sc22/wg21/docs/papers/2022/p0009r18.html
+
+Timur Doumler talk
+https://youtu.be/eD-ceG-oByA?si=FYk_cG3dNPIHiF2h
+
+Bryce Lelback talk
+https://youtu.be/aFCLmQEkPUw?si=zWybvW7JAOO33yVV
+
+Three skew rotation
+https://youtu.be/1LCEiVDHJmc?si=kjbLFjp8XldHnzO1

presentation/TODO.md

@@ -0,0 +1,46 @@
+## spanny2 improvements
+- [ ] Upload cad files to printables
+    - [ ] Revise cad to be fully printable without supports
+    - [ ] Make easier to assembly
+- [ ] Design and make boards
+- [ ] Make BOM
+- [ ] Make assembly instructions
+- [ ] Add unit tests
+- [ ] Make youtube videos
+    - [ ] ie, make 5 minute videos on each of the examples and pieces of the talk
+
+## mdspan examples
+- [ ] Molton/zed curve
+- [ ] Fractal for Jason
+- [ ] Zoom into area 
+
+## spanny3 ideas
+Add unit tests
+Benchmark
+Add costmap layers where  multi layer pixels are more local
+Real path planner
+Segment anything... plus voxels?
+The laser scans and polygonal should be transformable after instantition...?
+Try to write more constexpr and compile time code
+Don't return an mdspan
+frameless torque motors
+simplefoc
+index of mdspan representing a state, returning a set of next states
+what would happen if you extended mdspan to accept an std::dextents<double, 3> (doesn't compile)
+
+## general
+ClangBuildAnalyzer
+Perfetto
+Lessons learned from the last decade of performance portability, Christian Trott
+Try mp-units again
+https://en.cppreference.com/w/cpp/memory/polymorphic_allocator
+Deducing this
+Crtp
+Perfect forwarding
+std forward_like
+std println
+https://github.com/getml/reflect-cpp
+Email Fillipe and ask him if things are ok
+
+## presentation 
+Context, motivation, light theory, example, more theory, more examples