From e523519e96477accf1888dc721abd0136ae9d93d Mon Sep 17 00:00:00 2001
From: Jamie Snape <snape@me.com>
Date: Tue, 14 Apr 2026 21:26:55 -0400
Subject: [PATCH] docs: add ROS package manifest and quality declaration

Signed-off-by: Jamie Snape <snape@me.com>
---
 QUALITY_DECLARATION.md | 276 +++++++++++++++++++++++++++++++++++++++++
 package.xml            |  59 +++++++++
 2 files changed, 335 insertions(+)
 create mode 100644 QUALITY_DECLARATION.md
 create mode 100644 package.xml

diff --git a/QUALITY_DECLARATION.md b/QUALITY_DECLARATION.md
new file mode 100644
index 0000000..60723cb
--- /dev/null
+++ b/QUALITY_DECLARATION.md
@@ -0,0 +1,276 @@
+<!--
+QUALITY_DECLARATION.md
+RVO2 Library
+
+SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
+SPDX-License-Identifier: CC-BY-SA-4.0
+
+Creative Commons Attribution-ShareAlike 4.0 International Public License
+
+You are free to:
+
+* Share -- copy and redistribute the material in any medium or format
+
+* ShareAlike -- If you remix, transform, or build upon the material, you must
+  distribute your contributions under the same license as the original
+
+* Adapt -- remix, transform, and build upon the material for any purpose, even
+  commercially.
+
+The licensor cannot revoke these freedoms as long as you follow the license
+terms.
+
+Under the following terms:
+
+* Attribution -- You must give appropriate credit, provide a link to the
+  license, and indicate if changes were made. You may do so in any reasonable
+  manner, but not in any way that suggests the licensor endorses you or your
+  use.
+
+* No additional restrictions -- You may not apply legal terms or technological
+  measures that legally restrict others from doing anything the license
+  permits.
+
+Notices:
+
+* You do not have to comply with the license for elements of the material in
+  the public domain or where your use is permitted by an applicable exception
+  or limitation.
+
+* No warranties are given. The license may not give you all of the permissions
+  necessary for your intended use. For example, other rights such as publicity,
+  privacy, or moral rights may limit how you use the material.
+
+Please send all bug reports to <geom@cs.unc.edu>.
+
+The authors may be contacted via:
+
+Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
+Dept. of Computer Science
+201 S. Columbia St.
+Frederick P. Brooks, Jr. Computer Science Bldg.
+Chapel Hill, N.C. 27599-3175
+United States of America
+
+<https://gamma.cs.unc.edu/RVO2/>
+-->
+
+# `RVO2 Library` Quality Declaration
+
+The package `RVO2 Library` claims to be in the **Quality Level 2** category.
+
+Below are the rationales, notes, and caveats for this claim, organized by each
+requirement listed in the Package Requirements for Quality Level 2 in
+[REP-2004](https://www.ros.org/reps/rep-2004.html).
+
+## Version Policy [1]
+
+### Version Scheme [1.i]
+
+`RVO2 Library` uses [Semantic Versioning 2.0.0](https://semver.org/), and is
+at version `2.0.3`. The version is declared in `CMakeLists.txt` and
+`MODULE.bazel`.
+
+### Version Stability [1.ii]
+
+`RVO2 Library` is at a stable version (`2.0.3`), which is greater than
+`1.0.0`.
+
+### Public API Declaration [1.iii]
+
+The public API of `RVO2 Library` is the set of symbols declared in
+[`src/RVO.h`](src/RVO.h). This header aggregates the public interfaces of
+`RVOSimulator`, `Vector2`, and `Line`. Internal implementation details in
+`Agent`, `KdTree`, and `Obstacle` are not part of the public API.
+
+### API Stability Within a Released Version [1.iv]
+
+The public API is stable across patch and minor versions. Breaking API changes
+are only introduced in new major versions.
+
+### ABI Stability Within a Released Version [1.v]
+
+ABI compatibility is maintained across patch versions within the same
+`major.minor` release series. New major or minor versions may introduce
+ABI-breaking changes.
+
+## Change Control Process [2]
+
+### Change Requests [2.i]
+
+All changes to `RVO2 Library` are submitted through pull requests on
+[GitHub](https://github.com/snape/RVO2). Direct commits to the `main` branch
+are not permitted outside of automated tooling.
+
+### Contributor Origin [2.ii]
+
+All contributors must sign off on their commits using the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/),
+enforced via the DCO GitHub App on every pull request.
+
+### Peer Review Policy [2.iii]
+
+As a single-maintainer project, all changes are reviewed by the primary
+maintainer [@snape](https://github.com/snape) before merging.
+
+### Continuous Integration [2.iv]
+
+CI is performed via GitHub Actions on every push and pull request to `main`,
+and on a daily schedule:
+
+- [`.github/workflows/ci.yml`](.github/workflows/ci.yml): builds and tests
+  with both CMake and Bazel on AlmaLinux, Alpine, Arch Linux, Fedora,
+  openSUSE, and Ubuntu (amd64 and arm64), and macOS (arm64). CMake builds
+  enable `BUILD_TESTING`, `ENABLE_HARDENING`, `ENABLE_OPENMP`, and
+  `WARNINGS_AS_ERRORS`.
+- [`.github/workflows/codeql.yml`](.github/workflows/codeql.yml): runs GitHub
+  CodeQL semantic code analysis for C++ on a weekly schedule.
+
+### Documentation Policy [2.v]
+
+Changes are documented through commit messages and pull request descriptions
+on GitHub.
+
+## Documentation [3]
+
+### Feature Documentation [3.i]
+
+All features of `RVO2 Library` are documented in the Doxygen markup within
+[`src/RVO.h`](src/RVO.h) and related headers, including a usage guide,
+parameter overview, and example code. Three annotated example programs
+([`examples/Blocks.cc`](examples/Blocks.cc),
+[`examples/Circle.cc`](examples/Circle.cc),
+[`examples/Roadmap.cc`](examples/Roadmap.cc)) demonstrate typical usage
+patterns covering agents, obstacles, and step-wise simulation.
+
+### Public API Documentation [3.ii]
+
+All public API elements are documented with Doxygen markup. HTML documentation
+is generated from the source headers using `cmake -DBUILD_DOCUMENTATION=ON`
+and installed with the library.
+
+### License [3.iii]
+
+Source code is licensed under the
+[Apache License, Version 2.0](https://www.apache.org/licenses/LICENSE-2.0).
+Documentation is licensed under the
+[Creative Commons Attribution-ShareAlike 4.0 International (CC-BY-SA-4.0)](https://creativecommons.org/licenses/by-sa/4.0/)
+Public License.
+
+The project uses the [REUSE Specification](https://reuse.software/) for license
+compliance. Every source file contains machine-readable SPDX license and
+copyright headers, and license texts are provided in the [`LICENSES/`](LICENSES/)
+directory. License compliance is verified by the `reuse` pre-commit hook.
+
+### Copyright Statement [3.iv]
+
+Copyright is held by the University of North Carolina at Chapel Hill. All
+source files include the SPDX copyright notice:
+
+```
+SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
+```
+
+### Quality Declaration [3.v]
+
+This document is the quality declaration for `RVO2 Library` and is linked from
+the project README.
+
+## Testing [4]
+
+### Feature Testing [4.i]
+
+Three system-level simulation scenarios form the test suite, run via `ctest`
+(CMake) and `bazel test` (Bazel):
+
+- **Blocks**: 100 agents split into four groups navigating through a narrow
+  passage formed by four obstacles.
+- **Circle**: 250 agents initially distributed on a circle moving to their
+  antipodal positions.
+- **Roadmap**: The Blocks scenario augmented with roadmap-based global path
+  planning.
+
+These scenarios exercise all documented features of the library, including
+agent management, obstacle processing, the k-D tree spatial index, and
+step-wise simulation.
+
+### Public API Testing [4.ii]
+
+The three simulation scenarios collectively exercise all major public API
+functions of `RVOSimulator`, `Vector2`, and `Line`. Dedicated unit tests for
+individual API functions are not currently present.
+
+### Coverage [4.iii]
+
+Code coverage is not currently tracked. The three simulation scenarios provide
+broad functional coverage of the library, but no formal coverage measurement
+or policy is in place. This is a known gap relative to Quality Level 2
+requirements.
+
+### Performance [4.iv]
+
+No formal performance regression tests are in place. The simulation scenarios
+implicitly exercise performance characteristics of the library (e.g., the
+Circle scenario with 250 agents, and the Blocks scenario with obstacle
+processing), but no automated performance benchmarks are run in CI.
+
+### Linters and Static Analysis [4.v]
+
+The following linters and static analysis tools are enforced, with all warnings
+treated as errors in CI:
+
+- **clang-format**: code formatting enforced via [`.clang-format`](.clang-format)
+  (Google style with `PointerAlignment: Right`)
+- **clang-tidy**: static analysis via [`.clang-tidy`](.clang-tidy), enabling
+  `bugprone-*`, `cert-*`, `clang-analyzer-*`, `cppcoreguidelines-*`,
+  `google-*`, `performance-*`, `portability-*`, `readability-*`, and
+  `openmp-*` checks, with `WarningsAsErrors: '*'`
+- **cpplint**: Google C++ style enforcement via [`CPPLINT.cfg`](CPPLINT.cfg)
+- **buildifier**: Bazel file formatting via [`.buildifier.json`](.buildifier.json)
+- **CodeQL**: GitHub's semantic code analysis for C++ via
+  [`.github/workflows/codeql.yml`](.github/workflows/codeql.yml)
+- **pre-commit hooks**: `codespell` (spell checking), `yamllint`, `actionlint`
+  (workflow validation), REUSE compliance, case-conflict detection, and
+  trailing-whitespace removal via [`.pre-commit-config.yaml`](.pre-commit-config.yaml)
+
+## Dependencies [5]
+
+### Direct Runtime ROS Dependencies [5.i]
+
+None.
+
+### Optional Direct Runtime ROS Dependencies [5.ii]
+
+None.
+
+### Direct Runtime non-ROS Dependencies [5.iii]
+
+- **C++ Standard Library**: provided by the compiler toolchain (GCC, Clang, or
+  MSVC). This is a de facto standard with no quality level concerns.
+- **OpenMP** (optional): a widely-adopted, ISO-standardized API for shared-memory
+  parallel computing, available in all major compiler toolchains. Enabling
+  OpenMP parallelizes simulation steps across available processors.
+
+## Platform Support [6]
+
+`RVO2 Library` is built and tested continuously via GitHub Actions on the
+following platforms:
+
+| Platform       | Architecture | Build System |
+|----------------|--------------|--------------|
+| AlmaLinux 10   | amd64        | CMake, Bazel |
+| Alpine Linux   | amd64        | CMake, Bazel |
+| Arch Linux     | amd64        | CMake, Bazel |
+| Fedora         | amd64        | CMake, Bazel |
+| openSUSE Leap  | amd64        | CMake, Bazel |
+| Ubuntu         | amd64, arm64 | CMake, Bazel |
+| macOS          | arm64        | CMake, Bazel |
+
+## Security [7]
+
+### Vulnerability Disclosure Policy [7.i]
+
+The security policy is documented in
+[`.github/SECURITY.md`](.github/SECURITY.md). Vulnerability reports should be
+sent to [geom@cs.unc.edu](mailto:geom@cs.unc.edu). The current release is
+supported with security updates when practical.
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..62fc0d3
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<!--
+package.xml
+RVO2 Library
+
+SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
+SPDX-License-Identifier: Apache-2.0
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    https://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+Please send all bug reports to <geom@cs.unc.edu>.
+
+The authors may be contacted via:
+
+Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
+Dept. of Computer Science
+201 S. Columbia St.
+Frederick P. Brooks, Jr. Computer Science Bldg.
+Chapel Hill, N.C. 27599-3175
+United States of America
+
+<https://gamma.cs.unc.edu/RVO2/>
+-->
+<package format="3">
+  <name>rvo2</name>
+  <version>2.0.3</version>
+  <description>Optimal Reciprocal Collision Avoidance</description>
+
+  <maintainer email="geom@cs.unc.edu">Jamie Snape</maintainer>
+
+  <license>Apache-2.0</license>
+
+  <url type="website">https://gamma.cs.unc.edu/RVO2/</url>
+  <url type="repository">https://github.com/snape/RVO2</url>
+
+  <author>Jur van den Berg</author>
+  <author>Stephen J. Guy</author>
+  <author>Jamie Snape</author>
+  <author>Ming C. Lin</author>
+  <author>Dinesh Manocha</author>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>