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The talk will cover the CLANG + c2.dll compiler for the Microsoft platform. It will contain parts of the talk given at //Build 2015 that can be found on line: “Compiling Objective-C Using the Visual Studio 2015 C++ Code Generation that Builds Windows, SQL, .Net, and Office”. The focus this time will be on C++.
The talk will disclose the architecture of how we tied the CLANG open source front end with the Microsoft optimizing backends (several configurations are needed) and how far we are from providing a CTP for public consumption targeting 4 different architectures. Included in this section will be a disclosure of data on compile time, memory consumption, conformance and correctness.
In addition the talk will cover the nuts and bolts of several key innovative compiler and runtime technologies we will be delivering in the Visual Studio 2015 updates (Fall, Winter and Spring). New investments in the compiler and runtime space include: Improved optimization and auto-vectorization, more secure code generation, incremental whole program compilation, and new asynchronous C++ code generation.
The robotics community is thriving in part due to flexible, powerful, accessible open source tools. The Open Source Robotics Foundation is a non-profit organization dedicated to the development, distribution, and adoption of open source software in robotics. We enable academics to focus on high-level research by re-using code, robotics startups to keep their development costs lean, and novice users to engage with powerful, complex robotics technology.
The first half of this talk centers around the future of ROS, the most widely used open source framework for robotics. After an overview of ROS transport, tools, capabilities, and the diverse ecosystem of ROS-compatible libraries, we will motivate the development of ROS 2: a major API change that targets new use cases for ROS, including embedded hardware, multi-robot systems, and real-time performance. Starting with an overview of the ROS 2 architecture, which includes a modern C++11 client library built on top of a generic DDS middleware interface, we will then focus on two core user code examples: publish/subscribe over a topic, and client request/service response. After this half of the presentation, attendees will understand C++ is a dominant language choice for robotics and why C++11 makes it easy to build a flexible, modular, Boost-free framework for communication and synchronization.
The second half of the talk focuses on Gazebo, a simulator for robotics that features support for multiple rigid body dynamics physics engines, high quality graphics, and a flexible C++ API. Simulation software like Gazebo is of utmost importance for developing controller algorithms, prototyping robot designs, and regression testing in challenging environments. It has been used in high-stakes competitions such as the DARPA Robotics Challenge. This talk will delve into how different components of the simulator interact, from calculating the physical interactions between objects to rendering graphics with OGRE. We will also discuss upcoming features in Gazebo and the process of tailoring our development to our community.
Key design aspects, advantages, as well as trade-offs will be examined; a live example demonstrating key technologies in action will be presented.
Part I: Introduction to template metaprogramming. Template metaprogramming is a variant of generic programming, a technique that uses C++ template mechanism to perform computations at compilation time, usually to generate, from a single description, executable code that depends on the properties of the data types. It can be viewed as “programming with types”. In this example-driven class we start with the overview of the metaprogramming tools (everything you wanted to know about template specializations but were afraid to ask). We will apply these tools to simple examples, such as: how to sort a sequence in order of increasing values, unless it’s a sequence of pointers, in which case we want the values of what they point to.
Part II: Advanced techniques and practical applications. Simple examples of metaprogramming are fun and useful, but once you master them you start chafing at the limitations. This is C++, where we don’t suffer limitations gladly. We therefore move on to the more advanced techniques, including SFINAE, and the appropriately more advanced examples. The journey takes us back to the beginning: after all, when sorting a sequence of values vs a sequence of pointers, you don’t really care whether the pointer is smart or dumb. What you really want to know is whether “*p” compiles or not. What you really need is an “if_compiles” metaprogramming function.