Added Region3 Python interface (#450)

Signed-off-by: ahcorde <[email protected]>

src/python_pybind11/CMakeLists.txt

@@ -34,6 +34,7 @@ pybind11_add_module(math SHARED
   src/Pose3.cc
   src/Quaternion.cc
   src/Rand.cc
+  src/Region3.cc
   src/RollingMean.cc
   src/RotationSpline.cc
   src/SemanticVersion.cc
@@ -129,6 +130,7 @@ if (BUILD_TESTING)
     Pose3_TEST
     Quaternion_TEST
     Rand_TEST
+    Region3_TEST
     RollingMean_TEST
     RotationSpline_TEST
     SemanticVersion_TEST

src/python_pybind11/src/Region3.cc

@@ -0,0 +1,34 @@
+/*
+ * 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.
+ *
+*/
+
+#include "Region3.hh"
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathRegion3(py::module &m, const std::string &typestr)
+{
+  helpDefineMathRegion3<float>(m, typestr + "f");
+  helpDefineMathRegion3<double>(m, typestr + "d");
+}
+
+}  // namespace python
+}  // namespace math
+}  // namespace ignition

src/python_pybind11/src/Region3.hh

@@ -0,0 +1,110 @@
+/*
+ * 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.
+ *
+*/
+
+#ifndef IGNITION_MATH_PYTHON__REGION3_HH_
+#define IGNITION_MATH_PYTHON__REGION3_HH_
+
+#include <string>
+#include <sstream>
+
+#include <pybind11/pybind11.h>
+#include <pybind11/operators.h>
+
+#include <ignition/math/Region3.hh>
+#include <ignition/math/Vector3.hh>
+
+namespace py = pybind11;
+using namespace pybind11::literals;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Help define a pybind11 wrapper for an ignition::math::Region3
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+template<typename T>
+void helpDefineMathRegion3(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::Region3<T>;
+  auto toString = [](const Class &si) {
+    std::stringstream stream;
+    stream << si;
+    return stream.str();
+  };
+  std::string pyclass_name = typestr;
+  py::class_<Class>(m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+    .def(py::init<>())
+    .def(py::init<Interval<T>, Interval<T>, Interval<T>>())
+    .def(py::self != py::self)
+    .def(py::self == py::self)
+    .def("open",
+         &Class::Open,
+         "Make an open region")
+    .def("closed",
+         &Class::Closed,
+         "Make a closed region")
+    .def("ix",
+          &Class::Ix,
+         "Get the x-axis interval for the region")
+    .def("iy",
+         &Class::Iy,
+         "Get the y-axis interval for the region")
+    .def("iz",
+          &Class::Iz,
+         "Get the z-axis interval for the region")
+    .def("empty",
+         &Class::Empty,
+         "Check if the interval is empty")
+    .def("contains",
+         py::overload_cast<const Vector3<T> &>(&Class::Contains, py::const_),
+         "Check if the region contains `_point`")
+    .def("contains",
+         py::overload_cast<const Class &>(&Class::Contains, py::const_),
+         "Check if the region contains `_other` region")
+    .def("intersects",
+         &Class::Intersects,
+         "Check if the region intersects `_other` region")
+    .def("__copy__", [](const Class &self) {
+      return Class(self);
+    })
+    .def("__deepcopy__", [](const Class &self, py::dict) {
+      return Class(self);
+    }, "memo"_a)
+    .def("__str__", toString)
+    .def("__repr__", toString);
+}
+
+/// Define a pybind11 wrapper for an ignition::math::Region3
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathRegion3(py::module &m, const std::string &typestr);
+
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__REGION3_HH_

src/python_pybind11/src/_ignition_math_pybind11.cc

@@ -44,6 +44,7 @@
 #include "Pose3.hh"
 #include "Quaternion.hh"
 #include "Rand.hh"
+#include "Region3.hh"
 #include "RollingMean.hh"
 #include "RotationSpline.hh"
 #include "SemanticVersion.hh"
@@ -136,6 +137,8 @@ PYBIND11_MODULE(math, m)
 
   ignition::math::python::defineMathInterval(m, "Interval");
 
+  ignition::math::python::defineMathRegion3(m, "Region3");
+
   ignition::math::python::defineMathPolynomial3(m, "Polynomial3");
 
   ignition::math::python::defineMathLine2(m, "Line2");

src/python_pybind11/test/Region3_TEST.py

@@ -0,0 +1,114 @@
+# 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.
+
+import unittest
+
+from ignition.math import Intervald, Region3d, Vector3d
+
+
+class TestRegion3(unittest.TestCase):
+
+    def test_default_constructor(self):
+        region = Region3d()
+        self.assertTrue(region.ix().empty())
+        self.assertTrue(region.iy().empty())
+        self.assertTrue(region.iz().empty())
+
+    def test_constructor(self):
+        region = Region3d(
+            Intervald.open(0., 1.),
+            Intervald.closed(-1., 1.),
+            Intervald.open(-1., 0.))
+        self.assertEqual(region.ix(), Intervald.open(0., 1.))
+        self.assertEqual(region.iy(), Intervald.closed(-1., 1.))
+        self.assertEqual(region.iz(), Intervald.open(-1., 0.))
+
+    def test_construction_helpers(self):
+        openRegion = Region3d.open(0., 0., 0., 1., 1., 1.)
+        self.assertEqual(openRegion.ix(), Intervald.open(0., 1.))
+        self.assertEqual(openRegion.iy(), Intervald.open(0., 1.))
+        self.assertEqual(openRegion.iz(), Intervald.open(0., 1.))
+        closedRegion = Region3d.closed(0., 0., 0., 1., 1., 1.)
+        self.assertEqual(closedRegion.ix(), Intervald.closed(0., 1.))
+        self.assertEqual(closedRegion.iy(), Intervald.closed(0., 1.))
+        self.assertEqual(closedRegion.iz(), Intervald.closed(0., 1.))
+
+    def test_empty_region(self):
+        self.assertFalse(Region3d.open(0., 0., 0., 1., 1., 1.).empty())
+        self.assertTrue(Region3d.open(0., 0., 0., 0., 0., 0.).empty())
+        self.assertTrue(Region3d.open(0., 0., 0., 0., 1., 1.).empty())
+        self.assertTrue(Region3d.open(0., 0., 0., 1., 0., 1.).empty())
+        self.assertTrue(Region3d.open(0., 0., 0., 1., 1., 0.).empty())
+        self.assertFalse(Region3d.closed(0., 0., 0., 0., 0., 0.).empty())
+        self.assertTrue(Region3d.closed(1., 1., 1., 0., 0., 0.).empty())
+
+    def test_region_membership(self):
+        openRegion = Region3d.open(0., 0., 0., 1., 1., 1.)
+        self.assertFalse(openRegion.contains(Vector3d(0., 0., 0.)))
+        self.assertTrue(openRegion.contains(Vector3d(0.5, 0.5, 0.5)))
+        self.assertFalse(openRegion.contains(Vector3d(1., 1., 1.)))
+        closedRegion = Region3d.closed(0., 0., 0., 1., 1., 1.)
+        self.assertTrue(closedRegion.contains(Vector3d(0., 0., 0.)))
+        self.assertTrue(closedRegion.contains(Vector3d(0.5, 0.5, 0.5)))
+        self.assertTrue(closedRegion.contains(Vector3d(1., 1., 1.)))
+
+    def test_region_subset(self):
+        openRegion = Region3d.open(0., 0., 0., 1., 1., 1.)
+        self.assertTrue(openRegion.contains(
+          Region3d.open(0.25, 0.25, 0.25,
+                        0.75, 0.75, 0.75)))
+        self.assertFalse(openRegion.contains(
+          Region3d.open(-1., 0.25, 0.25,
+                        0., 0.75, 0.75)))
+        self.assertFalse(openRegion.contains(
+          Region3d.open(0.25, -1., 0.25,
+                        0.75,  0., 0.75)))
+        self.assertFalse(openRegion.contains(
+          Region3d.open(0.25, 0.25, -1.,
+                        0.75, 0.75,  0.)))
+        self.assertFalse(openRegion.contains(
+          Region3d.closed(0., 0., 0.,
+                          1., 1., 1.)))
+
+        closedRegion = Region3d.closed(0., 0., 0., 1., 1., 1.)
+        self.assertTrue(closedRegion.contains(
+          Region3d.closed(0., 0., 0., 1., 1., 1.)))
+        self.assertTrue(closedRegion.contains(
+          Region3d.closed(0., 0., 0., 0., 0., 0.)))
+
+    def test_region_equality(self):
+        self.assertNotEqual(
+            Region3d.open(0., 0., 0., 0., 0., 0.),
+            Region3d.open(0., 0., 0., 0., 0., 0.))
+        self.assertEqual(
+            Region3d.closed(0., 0., 0., 0., 0., 0.),
+            Region3d.closed(0., 0., 0., 0., 0., 0.))
+        self.assertNotEqual(
+            Region3d.open(0., 0., 0., 1., 1., 1.),
+            Region3d.closed(0., 0., 0., 1., 1., 1.))
+
+    def test_region_intersection(self):
+        region = Region3d.open(0., 0., 0., 1., 1., 1.)
+        self.assertTrue(region.intersects(
+          Region3d.open(0.5, 0.5, 0.5, 1.5, 1.5, 1.5)))
+        self.assertTrue(region.intersects(
+          Region3d.open(-0.5, -0.5, -0.5, 0.5, 0.5, 0.5)))
+        self.assertFalse(region.intersects(
+          Region3d.open(1., 1., 1., 2., 2., 2.)))
+        self.assertFalse(region.intersects(
+          Region3d.open(-1., -1., -1., 0., 0., 0.)))
+
+
+if __name__ == '__main__':
+    unittest.main()