Merge pull request gazebosim#307 from scpeters/merge_6_some_python_to…

…_main

Merge some ign-math6 python bindings to main

.github/workflows/ci.yml

@@ -14,6 +14,7 @@ jobs:
         uses: ignition-tooling/action-ignition-ci@bionic
         with:
           codecov-enabled: true
+          doxygen-enabled: true
   focal-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Focal CI

CMakeLists.txt

@@ -43,7 +43,7 @@ if (NOT SWIG_FOUND)
   IGN_BUILD_WARNING("Swig is missing: Language interfaces are disabled.")
   message (STATUS "Searching for swig - not found.")
 else()
-  message (STATUS "Searching for swig - found.")
+  message (STATUS "Searching for swig - found version ${SWIG_VERSION}.")
 endif()
 
 # Include other languages if swig was found
@@ -55,10 +55,23 @@ if (SWIG_FOUND)
     IGN_BUILD_WARNING("Ruby is missing: Install ruby-dev to enable ruby interface to ignition math.")
     message (STATUS "Searching for Ruby - not found.")
   else()
-    message (STATUS "Searching for Ruby - found.")
+    message (STATUS "Searching for Ruby - found version ${RUBY_VERSION}.")
+  endif()
+
+  ########################################
+  # Include python
+  find_package(PythonLibs QUIET)
+  if (NOT PYTHONLIBS_FOUND)
+    message (STATUS "Searching for Python - not found.")
+  else()
+    message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
   endif()
 endif()
 
+# Location of "fake install folder" used in tests
+# Defined here at root scope so it is available for tests in src and test folders
+set(FAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/fake/install")
+
 #============================================================================
 # Configure the build
 #============================================================================

examples/angle_example.py

@@ -0,0 +1,43 @@
+# Copyright (C) 2021 Open Source Robotics Foundation
+#
+# 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
+#
+#     http://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.
+
+# This example will only work if the Python interface library was compiled and
+# installed.
+#
+# Modify the PYTHONPATH environment variable to include the ignition math
+# library install path. For example, if you install to /user:
+#
+# $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
+#
+
+import ignition.math
+
+print("PI in degrees = {}\n".format(ignition.math.Angle.PI.degree()))
+
+a1 = ignition.math.Angle(1.5707)
+a2 = ignition.math.Angle(0.7854)
+print("a1 = {} radians, {} degrees\n".format(a1.radian(), a1.degree()))
+print("a2 = {} radians, {} degrees\n".format(a2.radian(), a2.degree()))
+print("a1 * a2 = {} radians, {} degrees\n".format((a1 * a2).radian(),
+      (a1 * a2).degree()))
+print("a1 + a2 = {} radians, {} degrees\n".format((a1 + a2).radian(),
+      (a1 + a2).degree()))
+print("a1 - a2 = {} radians, {} degrees\n".format((a1 - a2).radian(),
+      (a1 - a2).degree()))
+
+a3 = ignition.math.Angle(15.707)
+print("a3 = {} radians, {} degrees\n".format(a3.radian(), a3.degree()))
+a3.normalize()
+print("a3.Normalize = {} radians, {} degrees\n".format(a3.radian(),
+                                                       a3.degree()))

examples/vector2_example.py

@@ -0,0 +1,39 @@
+# Copyright (C) 2021 Open Source Robotics Foundation
+#
+# 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
+#
+#     http://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.
+
+# This example will only work if the Python interface library was compiled and
+# installed.
+#
+# Modify the PYTHONPATH environment variable to include the ignition math
+# library install path. For example, if you install to /user:
+#
+# $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
+#
+import ignition.math
+
+va = ignition.math.Vector2d(1, 2)
+vb = ignition.math.Vector2d(3, 4)
+vc = ignition.math.Vector2d(vb)
+
+print("va = {} {}\n".format(va.x(), va.y()))
+print("vb = {} {}\n".format(vb.x(), vb.y()))
+print("vc = {} {}\n".format(vc.x(), vc.y()))
+
+vb += va
+print("vb += va: {} {}\n".format(vb.x(), vb.y()))
+
+vb.normalize()
+print("vb.normalize = {} {}\n".format(vb.x(), vb.y()))
+
+print("vb.distance(va) = {}\n".format(vb.distance(va)))

examples/vector3_example.py

@@ -0,0 +1,34 @@
+# Copyright (C) 2021 Open Source Robotics Foundation
+#
+# 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
+#
+#     http://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.
+
+# This example will only work if the Python interface library was compiled and
+# installed.
+#
+# Modify the PYTHONPATH environment variable to include the ignition math
+# library install path. For example, if you install to /user:
+#
+# $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
+#
+import ignition.math
+
+v1 = ignition.math.Vector3d(0, 0, 3)
+print("v =: {} {} {}\n".format(v1.x(), v1.y(), v1.z()))
+
+v2 = ignition.math.Vector3d(4, 0, 0)
+print("v2 = {} {} {}\n".format(v2.x(), v2.y(), v2.z()))
+
+v3 = v1 + v2
+print("v1 + v2 = {} {} {}\n".format(v3.x(), v3.y(), v3.z()))
+
+print("v1.Distance(v2) = {}\n".format(v1.distance(v2)))

include/ignition/math/Cylinder.hh

@@ -96,7 +96,6 @@ namespace ignition
       /// \brief Set the rotation offset.
       /// See Quaternion<Precision> RotationalOffset() for details on the
       /// rotational offset.
-      /// \return The cylinder's orientation.
       /// \sa Quaternion<Precision> RotationalOffset() const
       public: void SetRotationalOffset(
                   const Quaternion<Precision> &_rotOffset);

include/ignition/math/Ellipsoid.hh

@@ -57,7 +57,7 @@ namespace ignition
       public: Vector3<Precision> Radii() const;
 
       /// \brief Set the radius in meters.
-      /// \param[in] _radius The radius of the ellipsoid in meters.
+      /// \param[in] _radii The radii of the ellipsoid in meters.
       public: void SetRadii(const Vector3<Precision> &_radii);
 
       /// \brief Get the material associated with this ellipsoid.

include/ignition/math/Helpers.hh

@@ -479,7 +479,7 @@ namespace ignition
     /// \brief Append a number to a stream, specialized for int.
     /// \param[out] _out Output stream.
     /// \param[in] _number Number to append.
-    /// \param[in] _precision Not used for int.
+    //  _precision Not used for int.
     template<>
     inline void appendToStream(std::ostream &_out, int _number, int)
     {

include/ignition/math/SignalStats.hh

@@ -78,7 +78,6 @@ namespace ignition
 #pragma warning(pop)
 #endif
     };
-    /// \}
 
     /// \class SignalMaximum SignalStats.hh ignition/math/SignalStats.hh
     /// \brief Computing the maximum value of a discretely sampled signal.
@@ -94,7 +93,6 @@ namespace ignition
       // Documentation inherited.
       public: virtual void InsertData(const double _data) override;
     };
-    /// \}
 
     /// \class SignalMean SignalStats.hh ignition/math/SignalStats.hh
     /// \brief Computing the mean value of a discretely sampled signal.
@@ -110,7 +108,6 @@ namespace ignition
       // Documentation inherited.
       public: virtual void InsertData(const double _data) override;
     };
-    /// \}
 
     /// \class SignalMinimum SignalStats.hh ignition/math/SignalStats.hh
     /// \brief Computing the minimum value of a discretely sampled signal.
@@ -126,7 +123,6 @@ namespace ignition
       // Documentation inherited.
       public: virtual void InsertData(const double _data) override;
     };
-    /// \}
 
     /// \class SignalRootMeanSquare SignalStats.hh ignition/math/SignalStats.hh
     /// \brief Computing the square root of the mean squared value
@@ -143,7 +139,6 @@ namespace ignition
       // Documentation inherited.
       public: virtual void InsertData(const double _data) override;
     };
-    /// \}
 
     /// \class SignalMaxAbsoluteValue SignalStats.hh
     /// ignition/math/SignalStats.hh
@@ -162,7 +157,6 @@ namespace ignition
       // Documentation inherited.
       public: virtual void InsertData(const double _data) override;
     };
-    /// \}
 
     /// \class SignalVariance SignalStats.hh ignition/math/SignalStats.hh
     /// \brief Computing the incremental variance
@@ -179,7 +173,6 @@ namespace ignition
       // Documentation inherited.
       public: virtual void InsertData(const double _data) override;
     };
-    /// \}
 
     /// \brief Forward declare private data class.
     class SignalStatsPrivate;
@@ -256,7 +249,6 @@ namespace ignition
 #endif
     };
     }
-    /// \}
   }
 }
 #endif

include/ignition/math/SphericalCoordinates.hh

@@ -230,7 +230,6 @@ namespace ignition
 #pragma warning(pop)
 #endif
     };
-    /// \}
     }
   }
 }

src/CMakeLists.txt

@@ -12,77 +12,6 @@ ign_build_tests(TYPE UNIT SOURCES ${gtest_sources})
 # graph namespace
 add_subdirectory(graph)
 
-#################################################
-# Setup swig
-if (SWIG_FOUND)
-  if (POLICY CMP0078)
-    cmake_policy(SET CMP0078 NEW)
-  endif()
-  if (POLICY CMP0086)
-    cmake_policy(SET CMP0086 NEW)
-  endif()
-
-  include(${SWIG_USE_FILE})
-  set(CMAKE_SWIG_FLAGS "")
-
-  include_directories(${PROJECT_SOURCE_DIR}/include)
-
-  set(swig_files
-    ruby
-    Angle
-    GaussMarkovProcess
-    Helpers
-    Matrix3
-    Pose3
-    Quaternion
-    Rand
-    Temperature
-    Vector2
-    Vector3
-    Vector4)
-endif()
-
-#################################################
-# Create and install Ruby interfaces
-# Example usage
-# $ export RUBYLIB=/usr/local/lib/ruby
-# $ ruby -e "require 'ignition/math'; a = Ignition::Math::Angle.new(20); puts a.Degree()"
-if (RUBY_FOUND)
-  foreach (swig_file ${swig_files})
-    # Assuming that each swig file has a test
-    list(APPEND ruby_tests ${swig_file}_TEST)
-
-    # Generate the list if .i files
-    list(APPEND swig_i_files ${swig_file}.i)
-  endforeach()
-
-  # Turn on c++
-  set_source_files_properties(${swig_i_files} PROPERTIES CPLUSPLUS ON)
-
-  # Create the ruby library
-
-  if(CMAKE_VERSION VERSION_GREATER 3.8.0)
-    SWIG_ADD_LIBRARY(math LANGUAGE ruby SOURCES ruby.i ${swig_i_files} ${sources})
-  else()
-    SWIG_ADD_MODULE(math ruby ruby.i ${swig_i_files} ${sources})
-  endif()
-
-  # Suppress warnings on SWIG-generated files
-  target_compile_options(math PRIVATE 
-    $<$<CXX_COMPILER_ID:GNU>:-Wno-pedantic -Wno-shadow -Wno-maybe-uninitialized -Wno-unused-parameter>
-    $<$<CXX_COMPILER_ID:Clang>:-Wno-shadow -Wno-maybe-uninitialized -Wno-unused-parameter>
-    $<$<CXX_COMPILER_ID:AppleClang>:-Wno-shadow -Wno-maybe-uninitialized -Wno-unused-parameter>
-  )
-  target_include_directories(math SYSTEM PUBLIC ${RUBY_INCLUDE_DIRS})
-
-  SWIG_LINK_LIBRARIES(math ${RUBY_LIBRARY})
-  target_compile_features(math PUBLIC ${IGN_CXX_${c++standard}_FEATURES})
-  install(TARGETS math DESTINATION ${IGN_LIB_INSTALL_DIR}/ruby/ignition)
-
-  # Add the ruby tests
-  foreach (test ${ruby_tests})
-    add_test(NAME ${test}.rb COMMAND
-      ruby -I${CMAKE_BINARY_DIR}/lib ${CMAKE_SOURCE_DIR}/src/${test}.rb
-   	  --gtest_output=xml:${CMAKE_BINARY_DIR}/test_results/${test}rb.xml)
-  endforeach()
-endif()
+# Bindings subdirectories
+add_subdirectory(python)
+add_subdirectory(ruby)