Updating c++ code with dynamixel motor support

MODULE.bazel

@@ -17,6 +17,7 @@ bazel_dep(name = "aspect_rules_js", version = "1.41.2")
 bazel_dep(name = "bazel_skylib", version = "1.4.2")
 bazel_dep(name = "eigen", version = "3.4.0")
 bazel_dep(name = "gazelle", version = "0.35.0")
+bazel_dep(name = "googletest", version = "1.14.0")
 bazel_dep(name = "hedron_compile_commands", dev_dependency = True)
 git_override(
     module_name = "hedron_compile_commands",

src/math/BUILD.bazel

@@ -0,0 +1,18 @@
+cc_library(
+    name = "math_lib",
+    hdrs = [
+        "pid.h",
+    ],
+    visibility = ["//visibility:public"],
+)
+
+cc_library(
+    name = "vector_lib",
+    hdrs = [
+        "vector_math.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "@eigen",
+    ],
+)

src/math/pid.h

@@ -0,0 +1,5 @@
+struct PIDGain {
+  float kP;
+  float kI;
+  float kD;
+};

src/math/vector_math.h

@@ -0,0 +1,6 @@
+#include <Eigen/Eigen>
+
+struct Location {
+  Eigen::Vector2d position;
+  Eigen::Rotation2Df rotation;
+};

src/robot/BUILD.bazel

@@ -17,13 +17,36 @@ py_library(
     ],
 )
 
+cc_library(
+    name = "robot_lib",
+    srcs = [
+        "robot.cpp",
+    ],
+    hdrs = [
+        "motor.h",
+        "robot.h",
+    ],
+    deps = ["@eigen"],
+)
+
 cc_binary(
     name = "robot",
     srcs = [
         "robot.cpp",
-        "robot.h",
     ],
     deps = [
+        "robot_lib",
+        "@eigen",
+    ],
+)
+
+cc_binary(
+    name = "main",
+    srcs = [
+        "main.cpp",
+    ],
+    deps = [
+        "robot_lib",
         "@eigen",
     ],
 )

src/robot/actuator/BUILD.bazel

@@ -0,0 +1,67 @@
+cc_library(
+    name = "generic_motor_lib",
+    hdrs = [
+        "motor.h",
+    ],
+    deps = [
+        "//src/math:math_lib",
+        "//src/math:vector_lib",
+        "@eigen",
+    ],
+)
+
+cc_library(
+    name = "dynamixel_motor_lib",
+    srcs = [
+        "dynamixel_motor.cpp",
+    ],
+    hdrs = [
+        "dynamixel_motor.h",
+    ],
+    deps = [
+        ":generic_motor_lib",
+        "//src/math:math_lib",
+        "@eigen",
+    ],
+)
+
+cc_test(
+    name = "dynamixel_motor_test",
+    size = "small",
+    srcs = [
+        "dynamixel_motor_test.cpp",
+    ],
+    deps = [
+        ":dynamixel_motor_lib",
+        "@eigen",
+        "@googletest//:gtest_main",
+    ],
+)
+
+cc_library(
+    name = "mock_motor_lib",
+    srcs = [
+        "mock_motor.cpp",
+    ],
+    hdrs = [
+        "mock_motor.h",
+    ],
+    deps = [
+        ":generic_motor_lib",
+        "//src/math:math_lib",
+        "@eigen",
+    ],
+)
+
+cc_test(
+    name = "mock_motor_test",
+    size = "small",
+    srcs = [
+        "mock_motor_test.cpp",
+    ],
+    deps = [
+        ":mock_motor_lib",
+        "@eigen",
+        "@googletest//:gtest_main",
+    ],
+)