Added Cylinder pybind11 interface (#348)

Signed-off-by: Alejandro Hernández <[email protected]>

src/python/CMakeLists.txt

@@ -88,7 +88,6 @@ if (PYTHONLIBS_FOUND)
     # Add the Python tests
     set(python_tests
       Box_TEST
-      Cylinder_TEST
       Frustum_TEST
       Plane_TEST
       python_TEST

src/python_pybind11/CMakeLists.txt

@@ -85,6 +85,7 @@ if (${pybind11_FOUND})
       Angle_TEST
       AxisAlignedBox_TEST
       Color_TEST
+      Cylinder_TEST
       DiffDriveOdometry_TEST
       Filter_TEST
       GaussMarkovProcess_TEST

src/python_pybind11/src/Cylinder.hh

@@ -0,0 +1,118 @@
+/*
+ * 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.
+ *
+*/
+
+#ifndef IGNITION_MATH_PYTHON__CYLINDER_HH_
+#define IGNITION_MATH_PYTHON__CYLINDER_HH_
+
+#include <string>
+
+#include <pybind11/pybind11.h>
+#include <pybind11/operators.h>
+#include <pybind11/stl.h>
+
+#include <ignition/math/Cylinder.hh>
+
+namespace py = pybind11;
+using namespace pybind11::literals;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::Cylinder
+/**
+ * \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 defineMathCylinder(py::module &m, const std::string &typestr)
+{
+
+  using Class = ignition::math::Cylinder<T>;
+  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<const T, const T,
+                  const ignition::math::Quaternion<T>&>(),
+         py::arg("_length") = 0,
+         py::arg("_radius") = 0,
+         py::arg("_rotOffset") = ignition::math::Quaternion<T>::Identity)
+    .def(py::init<const T, const T,
+                  const ignition::math::Material&,
+                  const ignition::math::Quaternion<T>&>(),
+         py::arg("_length") = 0,
+         py::arg("_radius") = 0,
+         py::arg("_material") = ignition::math::Material(),
+         py::arg("_rotOffset") = ignition::math::Quaternion<T>::Identity)
+    .def(py::self == py::self)
+    .def("radius",
+         &Class::Radius,
+         "Get the radius in meters.")
+    .def("set_radius",
+         &Class::SetRadius,
+         "Set the radius in meters.")
+    .def("length",
+         &Class::Length,
+         "Get the length in meters.")
+    .def("set_length",
+         &Class::SetLength,
+         "Set the length in meters.")
+    .def("rotational_offset",
+         &Class::RotationalOffset,
+         "Get the rotation offset.")
+    .def("set_rotational_offset",
+         &Class::SetRotationalOffset,
+         "Set the rotation offset.")
+    .def("mat",
+         &Class::Mat,
+         py::return_value_policy::reference,
+         "Get the material associated with this box.")
+    .def("set_mat",
+         &Class::SetMat,
+         "Set the material associated with this box.")
+    .def("volume",
+         &Class::Volume,
+         "Get the volume of the box in m^3.")
+    .def("density_from_mass",
+         &Class::DensityFromMass,
+         "Compute the box's density given a mass value.")
+    .def("set_density_from_mass",
+         &Class::SetDensityFromMass,
+         "Set the density of this box based on a mass value.")
+    .def("mass_matrix",
+         &Class::MassMatrix,
+         "Get the mass matrix for this box. This function "
+         "is only meaningful if the box's size and material "
+         "have been set.")
+    .def("__copy__", [](const Class &self) {
+      return Class(self);
+    })
+    .def("__deepcopy__", [](const Class &self, py::dict) {
+      return Class(self);
+    }, "memo"_a);
+}
+
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__CYLINDER_HH_

src/python_pybind11/src/_ignition_math_pybind11.cc

@@ -16,6 +16,7 @@
 
 #include "Angle.hh"
 #include "AxisAlignedBox.hh"
+#include "Cylinder.hh"
 #include "Color.hh"
 #include "DiffDriveOdometry.hh"
 #include "Filter.hh"
@@ -143,6 +144,8 @@ PYBIND11_MODULE(math, m)
   ignition::math::python::defineMathMassMatrix3<double>(m, "MassMatrix3d");
   ignition::math::python::defineMathMassMatrix3<float>(m, "MassMatrix3f");
 
+  ignition::math::python::defineMathCylinder<double>(m, "Cylinderd");
+
   ignition::math::python::defineMathInertial<double>(m, "Inertiald");
 
   ignition::math::python::defineMathFilter<int>(m, "Filteri");

src/python/Cylinder_TEST.py → src/python_pybind11/test/Cylinder_TEST.py

@@ -16,7 +16,7 @@
 import unittest
 
 import ignition
-from ignition.math import Cylinderd, IGN_PI, MassMatrix3d, Material, Quaterniond
+from ignition.math import Cylinderd, MassMatrix3d, Material, Quaterniond
 
 
 class TestCylinder(unittest.TestCase):
@@ -54,14 +54,14 @@ def test_constructor(self):
         self.assertEqual(cylinder, cylinder2)
 
         # Length, radius, mat and rot constructor
-        cylinder = Cylinderd(1.0, 2.0, Material(ignition.math.MaterialType_WOOD),
+        cylinder = Cylinderd(1.0, 2.0, Material(ignition.math.MaterialType.WOOD),
                              Quaterniond(0.1, 0.2, 0.3))
         self.assertEqual(1.0, cylinder.length())
         self.assertEqual(2.0, cylinder.radius())
         self.assertEqual(Quaterniond(0.1, 0.2, 0.3), cylinder.rotational_offset())
-        self.assertEqual(Material(ignition.math.MaterialType_WOOD), cylinder.mat())
+        self.assertEqual(Material(ignition.math.MaterialType.WOOD), cylinder.mat())
 
-        cylinder2 = Cylinderd(1.0, 2.0, Material(ignition.math.MaterialType_WOOD),
+        cylinder2 = Cylinderd(1.0, 2.0, Material(ignition.math.MaterialType.WOOD),
                               Quaterniond(0.1, 0.2, 0.3))
         self.assertEqual(cylinder, cylinder2)
 
@@ -75,17 +75,17 @@ def test_mutators(self):
         cylinder.set_length(100.1)
         cylinder.set_radius(.123)
         cylinder.set_rotational_offset(Quaterniond(1.2, 2.3, 3.4))
-        cylinder.set_mat(Material(ignition.math.MaterialType_PINE))
+        cylinder.set_mat(Material(ignition.math.MaterialType.PINE))
 
         self.assertEqual(100.1, cylinder.length())
         self.assertEqual(.123, cylinder.radius())
         self.assertEqual(Quaterniond(1.2, 2.3, 3.4), cylinder.rotational_offset())
-        self.assertEqual(Material(ignition.math.MaterialType_PINE), cylinder.mat())
+        self.assertEqual(Material(ignition.math.MaterialType.PINE), cylinder.mat())
 
     def test_volume_and_density(self):
         mass = 1.0
         cylinder = Cylinderd(1.0, 0.001)
-        expectedVolume = (IGN_PI * math.pow(0.001, 2) * 1.0)
+        expectedVolume = (math.pi * math.pow(0.001, 2) * 1.0)
         self.assertEqual(expectedVolume, cylinder.volume())
 
         expectedDensity = mass / expectedVolume