Merge branch 'ign-math6' into ahcorde/python/cylinder

src/python/CMakeLists.txt

@@ -111,6 +111,7 @@ if (PYTHONLIBS_FOUND)
       RotationSpline_TEST
       SemanticVersion_TEST
       SignalStats_TEST
+      SphericalCoordinates_TEST
       Spline_TEST
       StopWatch_TEST
       Temperature_TEST

src/python/SphericalCoordinates.i

@@ -0,0 +1,134 @@
+/*
+ * 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 sphericalcoordinates
+%{
+#include <memory>
+#include <string>
+
+#include <ignition/math/SphericalCoordinates.hh>
+#include <ignition/math/Angle.hh>
+#include <ignition/math/Vector3.hh>
+#include <ignition/math/config.hh>
+%}
+
+namespace ignition
+{
+  namespace math
+  {
+    class SphericalCoordinates
+    {
+      public: enum SurfaceType
+              {
+                /// \brief Model of reference ellipsoid for earth, based on
+                /// WGS 84 standard. see wikipedia: World_Geodetic_System
+                EARTH_WGS84 = 1
+              };
+
+      public: enum CoordinateType
+              {
+                /// \brief Latitude, Longitude and Altitude by SurfaceType
+                SPHERICAL = 1,
+
+                /// \brief Earth centered, earth fixed Cartesian
+                ECEF = 2,
+
+                /// \brief Local tangent plane (East, North, Up)
+                GLOBAL = 3,
+
+                /// \brief Heading-adjusted tangent plane (X, Y, Z)
+                /// This has kept a bug for backwards compatibility, use
+                /// LOCAL2 for the correct behaviour.
+                LOCAL = 4,
+
+                /// \brief Heading-adjusted tangent plane (X, Y, Z)
+                LOCAL2 = 5
+              };
+
+      public: SphericalCoordinates();
+
+      public: explicit SphericalCoordinates(const SurfaceType _type);
+
+      public: SphericalCoordinates(const SurfaceType _type,
+                                   const ignition::math::Angle &_latitude,
+                                   const ignition::math::Angle &_longitude,
+                                   const double _elevation,
+                                   const ignition::math::Angle &_heading);
+
+      public: SphericalCoordinates(const SphericalCoordinates &_sc);
+
+      /// \brief Destructor.
+      public: ~SphericalCoordinates();
+
+      public: ignition::math::Vector3<double> SphericalFromLocalPosition(
+                  const ignition::math::Vector3<double> &_xyz) const;
+
+      public: ignition::math::Vector3<double> GlobalFromLocalVelocity(
+                  const ignition::math::Vector3<double> &_xyz) const;
+
+      public: static SurfaceType Convert(const std::string &_str);
+
+      public: static std::string Convert(SurfaceType _type);
+
+      public: static double Distance(const ignition::math::Angle &_latA,
+                                     const ignition::math::Angle &_lonA,
+                                     const ignition::math::Angle &_latB,
+                                     const ignition::math::Angle &_lonB);
+
+      public: SurfaceType Surface() const;
+
+      public: ignition::math::Angle LatitudeReference() const;
+
+      public: ignition::math::Angle LongitudeReference() const;
+
+      public: double ElevationReference() const;
+
+      public: ignition::math::Angle HeadingOffset() const;
+
+      public: void SetSurface(const SurfaceType &_type);
+
+      public: void SetLatitudeReference(const ignition::math::Angle &_angle);
+
+      public: void SetLongitudeReference(const ignition::math::Angle &_angle);
+
+      public: void SetElevationReference(const double _elevation);
+
+      public: void SetHeadingOffset(const ignition::math::Angle &_angle);
+
+      public: ignition::math::Vector3<double> LocalFromSphericalPosition(
+                  const ignition::math::Vector3<double> &_latLonEle) const;
+
+      public: ignition::math::Vector3<double> LocalFromGlobalVelocity(
+                  const ignition::math::Vector3<double> &_xyz) const;
+
+      public: void UpdateTransformationMatrix();
+
+      public: ignition::math::Vector3<double>
+              PositionTransform(const ignition::math::Vector3<double> &_pos,
+                  const CoordinateType &_in, const CoordinateType &_out) const;
+
+      /// \return Transformed velocity vector
+      public: ignition::math::Vector3<double> VelocityTransform(
+                  const ignition::math::Vector3<double> &_vel,
+                  const CoordinateType &_in, const CoordinateType &_out) const;
+
+      public: bool operator==(const SphericalCoordinates &_sc) const;
+
+      public: bool operator!=(const SphericalCoordinates &_sc) const;
+    };
+  }
+}