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Adds python interface to Quaternion, Pose3, Matrix3 and Matrix4 (#221)
* Adds scripting interface to Quaternion and a python test * Adds scripting interface to Matrix3 and a python test * Adds scripting interface to Pose3 and a python test * Solves bug in the Reset() method inside Pose3 * Adds scripting interface to Matrix4 and a python test * Solves bug in the Construct test for Matrix4 class * Adds %rename tag to interface files in order to match pep-8 naiming style. * Adds a python method to convert from a Matrix3 to a Quaternion. * Adds to_quaternion() method to Matrix3. Signed-off-by: LolaSegura <[email protected]> * Adds python binding for Quaternion::ToAxis method. Signed-off-by: Franco Cipollone <[email protected]> * Matrix3_TEST: improve multiplication test This changes the test matrices that are multiplied togther so that they aren't scalar multiples of each other. This confirms non-commutativity in the test. * Matrix3_TEST.py: add stream out test Signed-off-by: Steve Peters <[email protected]> Co-authored-by: Franco Cipollone <[email protected]> Co-authored-by: Franco Cipollone <[email protected]> Co-authored-by: Steve Peters <[email protected]> Signed-off-by: Arjo Chakravarty <[email protected]>
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| /* | ||
| * 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. | ||
| * | ||
| */ | ||
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| %module matrix3 | ||
| %{ | ||
| #include <ignition/math/config.hh> | ||
| #include <ignition/math/Helpers.hh> | ||
| #include <ignition/math/Matrix3.hh> | ||
| #include <ignition/math/Quaternion.hh> | ||
| #include <ignition/math/Vector3.hh> | ||
| %} | ||
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| %include "std_string.i" | ||
| %include Quaternion.i | ||
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| namespace ignition | ||
| { | ||
| namespace math | ||
| { | ||
| template<typename T> | ||
| class Matrix3 | ||
| { | ||
| %rename("%(undercase)s", %$isfunction, %$ismember, %$not %$isconstructor) ""; | ||
| %rename("%(uppercase)s", %$isstatic, %$isvariable) ""; | ||
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| public: static const Matrix3<T> Identity; | ||
| public: static const Matrix3<T> Zero; | ||
| public: Matrix3(); | ||
| public: Matrix3(const Matrix3<T> &_m); | ||
| public: Matrix3(T _v00, T _v01, T _v02, | ||
| T _v10, T _v11, T _v12, | ||
| T _v20, T _v21, T _v22); | ||
| public: explicit Matrix3(const Quaternion<T> &_q); | ||
| public: virtual ~Matrix3() {} | ||
| public: void Set(T _v00, T _v01, T _v02, | ||
| T _v10, T _v11, T _v12, | ||
| T _v20, T _v21, T _v22); | ||
| public: void Axes(const Vector3<T> &_xAxis, | ||
| const Vector3<T> &_yAxis, | ||
| const Vector3<T> &_zAxis); | ||
| public: void Axis(const Vector3<T> &_axis, T _angle); | ||
| %rename(from_2_axes) From2Axes; | ||
| public: void From2Axes(const Vector3<T> &_v1, const Vector3<T> &_v2); | ||
| public: void Col(unsigned int _c, const Vector3<T> &_v); | ||
| public: Matrix3<T> operator-(const Matrix3<T> &_m) const; | ||
| public: Matrix3<T> operator+(const Matrix3<T> &_m) const; | ||
| public: Matrix3<T> operator*(const T &_s) const; | ||
| public: Matrix3<T> operator*(const Matrix3<T> &_m) const; | ||
| public: Vector3<T> operator*(const Vector3<T> &_vec) const; | ||
| public: bool Equal(const Matrix3 &_m, const T &_tol) const; | ||
| public: bool operator==(const Matrix3<T> &_m) const; | ||
| public: bool operator!=(const Matrix3<T> &_m) const;; | ||
| public: T Determinant() const; | ||
| public: Matrix3<T> Inverse() const; | ||
| public: void Transpose(); | ||
| public: Matrix3<T> Transposed() const; | ||
| }; | ||
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| %extend Matrix3{ | ||
| T __call__(size_t row, size_t col) const { | ||
| return (*$self)(row, col); | ||
| } | ||
| } | ||
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| %extend Matrix3 { | ||
| std::string __str__() const { | ||
| std::ostringstream out; | ||
| out << *$self; | ||
| return out.str(); | ||
| } | ||
| } | ||
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| %extend Matrix3 { | ||
| ignition::math::Quaternion<T> to_quaternion() { | ||
| return ignition::math::Quaternion<T>(*$self); | ||
| } | ||
| } | ||
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| %template(Matrix3i) Matrix3<int>; | ||
| %template(Matrix3d) Matrix3<double>; | ||
| %template(Matrix3f) Matrix3<float>; | ||
| } | ||
| } |
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