Merge branch 'ahcorde/python/triangle' of https://github.com/ignition…

…robotics/ign-math into ahcorde/python/triangle

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-math6 VERSION 6.9.0)
+project(ignition-math6 VERSION 6.9.1)
 
 #============================================================================
 # Find ignition-cmake
@@ -15,7 +15,7 @@ find_package(ignition-cmake2 2.8.0 REQUIRED)
 # Configure the project
 #============================================================================
 set (c++standard 17)
-ign_configure_project(VERSION_SUFFIX pre1)
+ign_configure_project(VERSION_SUFFIX)
 
 #============================================================================
 # Set project-specific options

Changelog.md

@@ -2,7 +2,15 @@
 
 ## Ignition Math 6.x.x
 
-## Ignition Math 6.9.0 (2021-09-XX)
+## Ignition Math 6.9.1 (2021-09-30)
+
+1. Avoid assertAlmostEqual for python strings
+    * [Pull request #255](https://github.com/ignitionrobotics/ign-math/pull/255)
+
+1. Pose3_TEST.py: use 0.01 (not 0) in string test
+    * [Pull request #257](https://github.com/ignitionrobotics/ign-math/pull/257)
+
+## Ignition Math 6.9.0 (2021-09-28)
 
 1. Volume below a plane for spheres and boxes
     * [Pull request #219](https://github.com/ignitionrobotics/ign-math/pull/219)
@@ -64,6 +72,8 @@
     * [Pull request #209](https://github.com/ignitionrobotics/ign-math/pull/209)
     * [Pull request #227](https://github.com/ignitionrobotics/ign-math/pull/227)
     * [Pull request #225](https://github.com/ignitionrobotics/ign-math/pull/225)
+    * [Pull request #252](https://github.com/ignitionrobotics/ign-math/pull/252)
+    * [Pull request #253](https://github.com/ignitionrobotics/ign-math/pull/253)
 
 ## Ignition Math 6.8.0 (2021-03-30)
 

README.md

@@ -64,6 +64,8 @@ ign-math
 ├── include/ignition/math    Header files.
 ├── src                      Source files and unit tests.
 │   └── graph                Source files for the graph classes.
+│   └── python               SWIG Python interfaces.
+│   └── ruby                 SWIG Ruby interfaces.
 ├── eigen3                   Files for Eigen component.
 ├── test
 │    ├── integration         Integration tests.

include/ignition/math/Cylinder.hh

@@ -100,10 +100,6 @@ namespace ignition
       public: void SetRotationalOffset(
                   const Quaternion<Precision> &_rotOffset);
 
-      /// \brief Set the length in meters.
-      /// \param[in] _length The length of the cylinder in meters.
-      public: void SetLength(const Precision _length) const;
-
       /// \brief Get the material associated with this cylinder.
       /// \return The material assigned to this cylinder
       public: const Material &Mat() const;

src/python/CMakeLists.txt

@@ -94,6 +94,7 @@ if (PYTHONLIBS_FOUND)
       Kmeans_TEST
       Line2_TEST
       Line3_TEST
+      Material_TEST
       Matrix3_TEST
       Matrix4_TEST
       MovingWindowFilter_TEST

src/python/Color_TEST.py

@@ -296,7 +296,7 @@ def test_const_set(self):
 
     def test_stream_out(self):
         c = Color(0.1, 0.2, 0.3, 0.5)
-        self.assertAlmostEqual(str(c), "0.1 0.2 0.3 0.5")
+        self.assertEqual(str(c), "0.1 0.2 0.3 0.5")
 
     def test_HSV(self):
         clr = Color()

src/python/Material.i

@@ -0,0 +1,59 @@
+/*
+ * 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 material
+%{
+#include <ignition/math/config.hh>
+#include <ignition/math/Export.hh>
+#include <ignition/math/Material.hh>
+#include <ignition/math/MaterialType.hh>
+%}
+
+%include "std_string.i"
+%include "std_map.i"
+
+%template(map_material_type) std::map<int,
+                                      ignition::math::Material>;
+
+namespace ignition
+{
+namespace math
+{
+    class Material
+    {
+      %rename("%(undercase)s", %$isfunction, %$ismember, %$not %$isconstructor) "";
+      public: Material();
+      public: explicit Material(const MaterialType _type);
+      public: explicit Material(const std::string &_typename);
+      public: explicit Material(const double _density);
+      public: Material(const Material &_material);
+      public: ~Material();
+      public: static const std::map<int, Material> &Predefined();
+      public: void SetToNearestDensity(
+                  const double _value,
+                  const double _epsilon = std::numeric_limits<double>::max());
+      public: bool operator==(const Material &_material) const;
+      public: bool operator!=(const Material &_material) const;
+      public: MaterialType Type() const;
+      public: void SetType(const MaterialType _type);
+      public: std::string Name() const;
+      public: void SetName(const std::string &_name);
+      public: double Density() const;
+      public: void SetDensity(const double _density);
+    };
+}
+}

src/python/MaterialType.i

@@ -0,0 +1,47 @@
+/*
+ * 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 materialtype
+%{
+#include <ignition/math/config.hh>
+#include <ignition/math/Export.hh>
+#include <ignition/math/MaterialType.hh>
+%}
+
+namespace ignition
+{
+namespace math
+{
+  enum class MaterialType
+    {
+      STYROFOAM = 0,
+      PINE,
+      WOOD,
+      OAK,
+      PLASTIC,
+      CONCRETE,
+      ALUMINUM,
+      STEEL_ALLOY,
+      STEEL_STAINLESS,
+      IRON,
+      BRASS,
+      COPPER,
+      TUNGSTEN,
+      UNKNOWN_MATERIAL
+    };
+}
+}

src/python/Material_TEST.py

@@ -0,0 +1,110 @@
+# 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.
+
+import sys
+import unittest
+
+import ignition.math
+
+
+class TestMaterial(unittest.TestCase):
+
+    def test_init(self):
+        mats = ignition.math.Material.predefined()
+        self.assertTrue(len(mats))
+
+        # Make sure that the number of elements in the MaterialType enum matches
+        # the number of elements in the MaterialDensity::materials map.
+        self.assertEqual(ignition.math.MaterialType_UNKNOWN_MATERIAL, len(mats))
+
+        # Iterate over each element in the enum. Check the that enum value
+        # matches the type value in the mats map.
+        for i in range(ignition.math.MaterialType_UNKNOWN_MATERIAL):
+            # Get the type of the material for MaterialType i.
+            self.assertEqual(i, next(iter(mats.find(i)))[1].type())
+
+            # The name should not be empty
+            self.assertTrue(next(iter(mats.find(i)))[1].name())
+
+            # The density should be less than the max double value and greater than
+            # zero.
+            self.assertLess(next(iter(mats.find(i)))[1].density(), sys.float_info.max)
+            self.assertGreater(next(iter(mats.find(i)))[1].density(), 0.0)
+
+        malicious = ignition.math.Material(42)
+        self.assertEqual(-1.0, malicious.density())
+        self.assertEqual('', malicious.name())
+
+        byDensity = ignition.math.Material(42.2)
+        self.assertEqual(42.2, byDensity.density())
+        self.assertEqual(ignition.math.MaterialType_UNKNOWN_MATERIAL, byDensity.type())
+
+    def test_comparison(self):
+        aluminum = ignition.math.Material(ignition.math.MaterialType_ALUMINUM)
+
+        modified = ignition.math.Material(aluminum)
+        self.assertEqual(modified, aluminum)
+
+        modified.set_density(1234.0)
+        self.assertNotEqual(modified, aluminum)
+
+        modified = ignition.math.Material(aluminum)
+        self.assertEqual(modified, aluminum)
+
+        modified.set_type(ignition.math.MaterialType_PINE)
+        self.assertNotEqual(modified, aluminum)
+
+    def test_accessors(self):
+
+        mat = ignition.math.Material("Aluminum")
+        mat1 = ignition.math.Material("aluminum")
+        mat2 = ignition.math.Material(ignition.math.MaterialType_ALUMINUM)
+        mat3 = ignition.math.Material(mat2)
+
+        self.assertAlmostEqual(2700.0, mat.density())
+        self.assertEqual(mat, mat1)
+        self.assertEqual(mat1, mat2)
+        self.assertEqual(mat2, mat3)
+
+        # Test constructor
+        mat4 = ignition.math.Material(mat3)
+        self.assertEqual(mat2, mat4)
+
+        mat5 = ignition.math.Material(mat4)
+        self.assertEqual(mat2, mat5)
+
+        mat = ignition.math.Material("Notfoundium")
+        self.assertGreater(0.0, mat.density())
+        self.assertEqual(ignition.math.MaterialType_UNKNOWN_MATERIAL,
+                         mat.type())
+        self.assertFalse(mat.name())
+
+        material = ignition.math.Material()
+        material.set_to_nearest_density(19300.0)
+        self.assertEqual(ignition.math.MaterialType_TUNGSTEN, material.type())
+        self.assertAlmostEqual(19300.0, material.density())
+
+        material = ignition.math.Material()
+        material.set_to_nearest_density(1001001.001, 1e-3)
+        self.assertEqual(ignition.math.MaterialType_UNKNOWN_MATERIAL,
+                         material.type())
+        self.assertGreater(0.0, material.density())
+        material = ignition.math.Material()
+        material.set_to_nearest_density(1001001.001)
+        self.assertEqual(ignition.math.MaterialType_TUNGSTEN, material.type())
+        self.assertAlmostEqual(19300, material.density())
+
+
+if __name__ == '__main__':
+    unittest.main()

src/python/Pose3_TEST.py

@@ -141,8 +141,8 @@ def test_pose_atributes(self):
         self.assertTrue(pose.rot() == Quaterniond(1, 0, 0))
 
     def test_stream_out(self):
-        p = Pose3d(0.1, 1.2, 2.3, 0.0, 0.1, 1.0)
-        self.assertAlmostEqual(str(p), "0.1 1.2 2.3 0 0.1 1")
+        p = Pose3d(0.1, 1.2, 2.3, 0.01, 0.1, 1.0)
+        self.assertEqual(str(p), "0.1 1.2 2.3 0.01 0.1 1")
 
     def test_mutable_pose(self):
         pose = Pose3d(0, 1, 2, 0, 0, 0)

src/python/python.i

@@ -21,6 +21,8 @@
 %include SignalStats.i
 %include Spline.i
 %include Temperature.i
+%include MaterialType.i
+%include Material.i
 %include Triangle.i
 %include Triangle3.i
 %include Kmeans.i

tutorials/installation.md

@@ -32,6 +32,22 @@ sudo apt install libignition-math<#>-dev
 Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
 which version you need.
 
+### macOS
+
+On macOS, add OSRF packages:
+  ```
+  ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
+  brew tap osrf/simulation
+  ```
+
+Install Ignition Math:
+  ```
+  brew install ignition-math<#>
+  ```
+
+Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
+which version you need.
+
 ## Windows
 
 Install [Conda package management system](https://docs.conda.io/projects/conda/en/latest/user-guide/install/download.html).
@@ -126,6 +142,36 @@ The optional Eigen component of Ignition Math requires:
   sudo make install
   ```
 
+### macOS
+
+1. Clone the repository
+  ```
+  git clone https://github.com/ignitionrobotics/ign-math -b ign-math<#>
+  ```
+  Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
+  which version you need.
+
+2. Install dependencies
+  ```
+  brew install --only-dependencies ignition-math<#>
+  ```
+  Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
+  which version you need.
+
+3. Configure and build
+  ```
+  cd ign-math
+  mkdir build
+  cd build
+  cmake ..
+  make
+  ```
+
+4. Optionally, install
+  ```
+  sudo make install
+  ```
+
 ### Windows
 
 1. Navigate to `condabin` if necessary to use the `conda` command (i.e., if Conda is not in your `PATH` environment variable. You can find the location of `condabin` in Anaconda Prompt, `where conda`).
@@ -229,4 +275,3 @@ The interfaces and Ruby test codes are in the `src` folder. To use a C++ class i
   ```
   ctest -R Ruby_TEST.rb
   ```
-