Merge branch 'main' into drop_mwf_pimpl

examples/CMakeLists.txt

@@ -24,12 +24,18 @@ target_link_libraries(graph_example ignition-math${IGN_MATH_VER}::ignition-math$
 add_executable(helpers_example helpers_example.cc)
 target_link_libraries(helpers_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 
+add_executable(interval_example interval_example.cc)
+target_link_libraries(interval_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
+
 add_executable(kmeans kmeans.cc)
 target_link_libraries(kmeans ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 
 add_executable(matrix3_example matrix3_example.cc)
 target_link_libraries(matrix3_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 
+add_executable(polynomial3_example polynomial3_example.cc)
+target_link_libraries(polynomial3_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
+
 add_executable(pose3_example pose3_example.cc)
 target_link_libraries(pose3_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 
@@ -45,6 +51,9 @@ target_link_libraries(quaternion_to_euler ignition-math${IGN_MATH_VER}::ignition
 add_executable(rand_example rand_example.cc)
 target_link_libraries(rand_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 
+add_executable(region3_example region3_example.cc)
+target_link_libraries(region3_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
+
 add_executable(temperature_example temperature_example.cc)
 target_link_libraries(temperature_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 

examples/interval_example.cc

@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2022 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.
+ *
+*/
+//! [complete]
+#include <iostream>
+#include <ignition/math/Interval.hh>
+
+int main(int argc, char **argv)
+{
+  std::cout << std::boolalpha;
+
+  const ignition::math::Intervald defaultInterval;
+  // A default constructed interval should be empty.
+  std::cout << "The " << defaultInterval << " interval is empty: "
+            << defaultInterval.Empty() << std::endl;
+
+  const ignition::math::Intervald openInterval =
+      ignition::math::Intervald::Open(-1., 1.);
+  // An open interval should exclude its endpoints.
+  std::cout << "The " << openInterval << " interval contains its endpoints: "
+            << (openInterval.Contains(openInterval.LeftValue()) ||
+                openInterval.Contains(openInterval.RightValue()))
+            << std::endl;
+
+  const ignition::math::Intervald closedInterval =
+      ignition::math::Intervald::Closed(0., 1.);
+
+  // A closed interval should include its endpoints.
+  std::cout << "The " << closedInterval << " interval contains its endpoints: "
+            << (closedInterval.Contains(closedInterval.LeftValue()) ||
+                closedInterval.Contains(closedInterval.RightValue()))
+            << std::endl;
+
+  // Closed and open intervals may intersect.
+  std::cout << "Intervals " << closedInterval << " and " << openInterval
+            << " intersect: " << closedInterval.Intersects(openInterval)
+            << std::endl;
+
+  // The unbounded interval should include all non-empty intervals.
+  std::cout << "The " << ignition::math::Intervald::Unbounded
+            << " interval contains all previous non-empty intervals: "
+            << (ignition::math::Intervald::Unbounded.Contains(openInterval) ||
+                ignition::math::Intervald::Unbounded.Contains(closedInterval))
+            << std::endl;
+
+}
+//! [complete]

examples/polynomial3_example.cc

@@ -0,0 +1,59 @@
+/*
+ * Copyright (C) 2022 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.
+ *
+*/
+//! [complete]
+#include <iostream>
+#include <ignition/math/Polynomial3.hh>
+#include <ignition/math/Vector4.hh>
+
+int main(int argc, char **argv)
+{
+  // A default constructed polynomial should have zero coefficients.
+  std::cout << "A default constructed polynomial is always: "
+            << ignition::math::Polynomial3d() << std::endl;
+
+  // A constant polynomial only has an independent term.
+  std::cout << "A constant polynomial only has an independent term: "
+            << ignition::math::Polynomial3d::Constant(-1.) << std::endl;
+
+  // A cubic polynomial may be incomplete.
+  const ignition::math::Polynomial3d p(
+      ignition::math::Vector4d(1., 0., -1., 2.));
+  std::cout << "A cubic polynomial may be incomplete: " << p << std::endl;
+
+  // A polynomial can be evaluated.
+  const double x = 0.5;
+  std::cout << "Evaluating " << p << " at " << x
+            << " yields " << p(x) << std::endl;
+
+  // A polynomial can be queried for its minimum in a given interval,
+  // as well as for its global minimum (which may not always be finite).
+  const ignition::math::Intervald interval =
+      ignition::math::Intervald::Closed(-1, 1.);
+  std::cout << "The minimum of " << p << " in the " << interval
+            << " interval is " << p.Minimum(interval) << std::endl;
+  std::cout << "The global minimum of " << p
+            << " is " << p.Minimum() << std::endl;
+
+  const ignition::math::Polynomial3d q(
+      ignition::math::Vector4d(0., 1., 2., 1.));
+  std::cout << "The minimum of " << q << " in the " << interval
+            << " interval is " << q.Minimum(interval) << std::endl;
+  std::cout << "The global minimum of " << q
+            << " is " << q.Minimum() << std::endl;
+
+}
+//! [complete]

examples/region3_example.cc

@@ -0,0 +1,61 @@
+/*
+ * Copyright (C) 2022 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.
+ *
+*/
+//! [complete]
+#include <iostream>
+#include <ignition/math/Region3.hh>
+#include <ignition/math/Vector3.hh>
+
+int main(int argc, char **argv)
+{
+  std::cout << std::boolalpha;
+
+  const ignition::math::Region3d defaultRegion;
+  // A default constructed region should be empty.
+  std::cout << "The " << defaultRegion << " region is empty: "
+            << defaultRegion.Empty() << std::endl;
+
+  const ignition::math::Region3d openRegion =
+      ignition::math::Region3d::Open(-1., -1., -1., 1., 1., 1.);
+  // An open region should exclude points on its boundary.
+  std::cout << "The " << openRegion << " region contains the "
+            << ignition::math::Vector3d::UnitX << " point: "
+            << openRegion.Contains(ignition::math::Vector3d::UnitX)
+            << std::endl;
+
+  const ignition::math::Region3d closedRegion =
+      ignition::math::Region3d::Closed(0., 0., 0., 1., 1., 1.);
+
+  // A closed region should include points on its boundary.
+  std::cout << "The " << closedRegion << " region contains the "
+            << ignition::math::Vector3d::UnitX << " point: "
+            << closedRegion.Contains(ignition::math::Vector3d::UnitX)
+            << std::endl;
+
+  // Closed and open regions may intersect.
+  std::cout << "Regions " << closedRegion << " and " << openRegion
+            << " intersect: " << closedRegion.Intersects(openRegion)
+            << std::endl;
+
+  // The unbounded region should include all non-empty regions.
+  std::cout << "The " << ignition::math::Region3d::Unbounded
+            << " region contains all previous non-empty intervals: "
+            << (ignition::math::Region3d::Unbounded.Contains(openRegion) ||
+                ignition::math::Region3d::Unbounded.Contains(closedRegion))
+            << std::endl;
+
+}
+//! [complete]