Frustrum Python interface (#278)

* Added Frustrum Python interface

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

* Fix whitespace alignment

Signed-off-by: Steve Peters <[email protected]>

Co-authored-by: Steve Peters <[email protected]>

src/python/CMakeLists.txt

@@ -94,6 +94,7 @@ if (PYTHONLIBS_FOUND)
       Cylinder_TEST
       DiffDriveOdometry_TEST
       Filter_TEST
+      Frustum_TEST
       GaussMarkovProcess_TEST
       Helpers_TEST
       Inertial_TEST

src/python/Frustum.i

@@ -0,0 +1,95 @@
+/*
+ * 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.
+ *
+*/
+
+%module frustum
+%{
+#include <ignition/math/Frustum.hh>
+#include <ignition/math/Angle.hh>
+#include <ignition/math/AxisAlignedBox.hh>
+#include <ignition/math/Plane.hh>
+#include <ignition/math/Pose3.hh>
+#include <ignition/math/config.hh>
+%}
+
+namespace ignition
+{
+  namespace math
+  {
+    class Frustum
+    {
+      /// \brief Planes that define the boundaries of the frustum.
+      public: enum FrustumPlane
+      {
+        /// \brief Near plane
+        FRUSTUM_PLANE_NEAR   = 0,
+
+        /// \brief Far plane
+        FRUSTUM_PLANE_FAR    = 1,
+
+        /// \brief Left plane
+        FRUSTUM_PLANE_LEFT   = 2,
+
+        /// \brief Right plane
+        FRUSTUM_PLANE_RIGHT  = 3,
+
+        /// \brief Top plane
+        FRUSTUM_PLANE_TOP    = 4,
+
+        /// \brief Bottom plane
+        FRUSTUM_PLANE_BOTTOM = 5
+      };
+
+      public: Frustum();
+
+      public: Frustum(const double _near,
+                  const double _far,
+                  const ignition::math::Angle &_fov,
+                  const double _aspectRatio,
+                  const ignition::math::Pose3<double> &_pose = ignition::math::Pose3<double>::Zero);
+
+      public: Frustum(const Frustum &_p);
+
+      public: virtual ~Frustum();
+
+      public: double Near() const;
+
+      public: void SetNear(const double _near);
+
+      public: double Far() const;
+
+      public: void SetFar(const double _far);
+
+      public: ignition::math::Angle FOV() const;
+
+      public: void SetFOV(const ignition::math::Angle &_fov);
+
+      public: double AspectRatio() const;
+
+      public: void SetAspectRatio(const double _aspectRatio);
+
+      public: ignition::math::Plane<double> Plane(const FrustumPlane _plane) const;
+
+      public: bool Contains(const ignition::math::AxisAlignedBox &_b) const;
+
+      public: bool Contains(const ignition::math::Vector3<double> &_p) const;
+
+      public: ignition::math::Pose3<double> Pose() const;
+
+      public: void SetPose(const ignition::math::Pose3<double> &_pose);
+    };
+  }
+}