merged from ign-math6

Signed-off-by: Louise Poubel <[email protected]>

examples/CMakeLists.txt

@@ -22,6 +22,9 @@ target_link_libraries(quaternion_to_euler ignition-math${IGN_MATH_VER}::ignition
 add_executable(quaternion_from_euler quaternion_from_euler.cc)
 target_link_libraries(quaternion_from_euler ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 
+add_executable(rand_example rand_example.cc)
+target_link_libraries(rand_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
+
 add_executable(graph_example graph_example.cc)
 target_link_libraries(graph_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 

examples/rand_example.cc

@@ -0,0 +1,54 @@
+/*
+ * 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.
+ *
+*/
+//! [complete]
+#include <iostream>
+#include <ignition/math/Rand.hh>
+
+// You can plot the data generated by this program by following these
+// steps.
+//
+// 1. Run this program and save the output to a file:
+//     ./rand_example normal > normal.data
+//     ./rand_example uniform > uniform.data
+//
+// 2. Use gnuplot to create a plot:
+//     gnuplot -c rand_view_normal.gp > normal.jpg
+//     gnuplot -c rand_view_uniform.gp > uniform.jpg
+int main(int argc, char **argv)
+{
+  if (argc < 2)
+  {
+    std::cout << "./rand_example [normal, uniform]" << '\n';
+    return -1;
+  }
+  for (int i = 0; i < 100000; ++i)
+  {
+    double value;
+    if (std::string(argv[1]) == "normal")
+    {
+      value = ignition::math::Rand::DblNormal(0, 100);
+    }
+    else if (std::string(argv[1]) == "uniform")
+    {
+      value = ignition::math::Rand::DblUniform(0, 1000);
+    }
+    std::cout << value << std::endl;
+  }
+
+  return 0;
+}
+//! [complete]

examples/rand_example.py

@@ -0,0 +1,37 @@
+# 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.
+
+# You can plot the data generated by this program by following these
+# steps.
+#
+# 1. Run this program and save the output to a file:
+#     ./rand_example normal > normal.data
+#     ./rand_example uniform > uniform.data
+#
+# 2. Use gnuplot to create a plot:
+#     gnuplot -c rand_view_normal.gp > normal.jpg
+#     gnuplot -c rand_view_uniform.gp > uniform.jpg
+from ignition.math import Rand
+import sys
+
+if (len(sys.argv) < 2):
+    print("python rand_example [normal, uniform]")
+else:
+    for i in range(100000):
+        value = 0
+        if (sys.argv[1] == "uniform"):
+            value = Rand.dbl_uniform(0, 1000);
+        elif (sys.argv[1] == "normal"):
+            value = Rand.dbl_normal(0, 100);
+        print(value)

examples/rand_view_normal.gp

@@ -0,0 +1,12 @@
+set terminal jpeg
+binwidth = 5
+bin(x,width)=width*floor(x/width)
+
+set tics out nomirror
+set style fill transparent solid 0.5 border lt -1
+set xrange [-1000:1000]
+set xtics binwidth
+set boxwidth binwidth
+set yrange [0:2500]
+
+plot "normal.data" u (bin($1,binwidth)):(1.0) smooth freq with boxes notitle

examples/rand_view_uniform.gp

@@ -0,0 +1,12 @@
+set terminal jpeg
+binwidth = 50
+bin(x,width)=width*floor(x/width)
+
+set tics out nomirror
+set style fill transparent solid 0.5 border lt -1
+set xrange [0:1000]
+set xtics binwidth
+set boxwidth binwidth
+set yrange [0:10000]
+
+plot "uniform.data" u (bin($1,binwidth)):(1.0) smooth freq with boxes notitle

src/python/CMakeLists.txt

@@ -89,16 +89,13 @@ if (PYTHONLIBS_FOUND)
     set(python_tests
       AxisAlignedBox_TEST
       Box_TEST
-      Color_TEST
       Cylinder_TEST
       DiffDriveOdometry_TEST
       Filter_TEST
       Frustum_TEST
       GaussMarkovProcess_TEST
-      Helpers_TEST
       Inertial_TEST
       Kmeans_TEST
-      Line2_TEST
       Line3_TEST
       MassMatrix3_TEST
       Material_TEST
@@ -111,8 +108,6 @@ if (PYTHONLIBS_FOUND)
       Pose3_TEST
       python_TEST
       Quaternion_TEST
-      Rand_TEST
-      RollingMean_TEST
       RotationSpline_TEST
       SemanticVersion_TEST
       SignalStats_TEST

src/python_pybind11/CMakeLists.txt

@@ -15,6 +15,10 @@ if (${pybind11_FOUND})
   pybind11_add_module(math SHARED
     src/_ignition_math_pybind11.cc
     src/Angle.cc
+    src/Color.cc
+    src/Helpers.cc
+    src/Rand.cc
+    src/RollingMean.cc
     src/StopWatch.cc
   )
 
@@ -69,6 +73,11 @@ if (${pybind11_FOUND})
     # Add the Python tests
     set(python_tests
       Angle_TEST
+      Color_TEST
+      Helpers_TEST
+      Line2_TEST
+      Rand_TEST
+      RollingMean_TEST
       StopWatch_TEST
       Vector2_TEST
       Vector3_TEST

src/python_pybind11/src/Color.cc

@@ -0,0 +1,154 @@
+/*
+ * 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.
+ *
+*/
+
+#include <string>
+
+#include "Color.hh"
+#include <ignition/math/Color.hh>
+
+#include <pybind11/operators.h>
+
+using namespace pybind11::literals;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathColor(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::Color;
+  auto toString = [](const Class &si) {
+    std::stringstream stream;
+    stream << si;
+    return stream.str();
+  };
+  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 Class&>())
+  .def(py::init<const float, const float, const float, const float>(),
+       py::arg("_r") = 0.0, py::arg("_g") = 0.0,
+       py::arg("_b") = 0.0, py::arg("_a") = 1.0f)
+  .def(py::self + py::self)
+  .def(py::self += py::self)
+  .def(py::self + float())
+  .def(py::self - py::self)
+  .def(py::self -= py::self)
+  .def(py::self - float())
+  .def(py::self / py::self)
+  .def(py::self /= py::self)
+  .def(py::self / float())
+  .def(py::self * py::self)
+  .def(py::self *= py::self)
+  .def(py::self * float())
+  .def(py::self != py::self)
+  .def(py::self == py::self)
+  .def_readonly_static("WHITE", &Class::White, "(1, 1, 1)")
+  .def_readonly_static("BLACK", &Class::Black, "(0, 0, 0)")
+  .def_readonly_static("RED", &Class::Red, "(1, 0, 0)")
+  .def_readonly_static("GREEN", &Class::Green, "(0, 1, 0)")
+  .def_readonly_static("BLUE", &Class::Blue, "(0, 0, 1)")
+  .def_readonly_static("YELLOW", &Class::Yellow, "(1, 1, 0)")
+  .def_readonly_static("MAGENTA", &Class::Magenta, "(1, 0, 1)")
+  .def_readonly_static("CYAN", &Class::Cyan, "(0, 1, 1)")
+  .def("reset",
+        &Class::Reset,
+        "Reset the color to default values to red=0, green=0, blue=0, alpha=1")
+   .def("set",
+        &Class::Set,
+        py::arg("_r") = 1.0, py::arg("_g") = 1.0,
+        py::arg("_b") = 1.0, py::arg("_a") = 1.0,
+        "Set the contents of the vector")
+   .def("hsv",
+        &Class::HSV,
+        "Set the color in HSV colorspace")
+   .def("set_from_hsv",
+        &Class::SetFromHSV,
+        "Set a color based on HSV values")
+   .def("yuv",
+        &Class::YUV,
+        "Get the color in YUV colorspace")
+   .def("set_from_yuv",
+        &Class::SetFromYUV,
+        "Set from yuv")
+   .def("as_rgba",
+        &Class::AsRGBA,
+        "Get as uint32 RGBA packed value")
+   .def("as_bgra",
+        &Class::AsBGRA,
+        "Get as uint32 BGRA packed value")
+   .def("as_argb",
+        &Class::AsARGB,
+        "Get as uint32 ARGB packed value")
+   .def("as_abgr",
+        &Class::AsABGR,
+        "Get as uint32 ABGR packed value")
+   .def("set_from_rgba",
+        &Class::SetFromRGBA,
+        "Set from uint32 RGBA packed value")
+   .def("set_from_bgra",
+        &Class::SetFromBGRA,
+        "Set from uint32 BGRA packed value")
+   .def("set_from_argb",
+        &Class::SetFromARGB,
+        "Set from uint32 ARGB packed value")
+   .def("set_from_abgr",
+        &Class::SetFromABGR,
+        "Set from uint32 ABGR packed value")
+   .def("r",
+        py::overload_cast<>(&Class::R),
+        "Get the red value")
+   .def("g",
+        py::overload_cast<>(&Class::G),
+        "Get the green value")
+   .def("b",
+        py::overload_cast<>(&Class::B),
+        "Get the blue value")
+   .def("a",
+        py::overload_cast<>(&Class::A),
+        "Get the alpha value")
+   .def("r",
+        py::overload_cast<float>(&Class::R),
+        "Get the red value")
+   .def("g",
+        py::overload_cast<float>(&Class::G),
+        "Get the green value")
+   .def("b",
+        py::overload_cast<float>(&Class::B),
+        "Get the blue value")
+   .def("a",
+        py::overload_cast<float>(&Class::A),
+        "Get the alpha value")
+   .def("__str__", toString)
+   .def("__repr__", toString)
+   .def("__copy__", [](const Class &self) {
+     return Class(self);
+   })
+   .def("__deepcopy__", [](const Class &self, py::dict) {
+     return Class(self);
+   }, "memo"_a)
+   .def("__getitem__",
+        (&Class::operator[]));
+}
+}  // namespace python
+}  // namespace math
+}  // namespace ignition

src/python_pybind11/src/Color.hh

@@ -0,0 +1,42 @@
+/*
+ * 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__COLOR_HH_
+#define IGNITION_MATH_PYTHON__COLOR_HH_
+
+#include <pybind11/pybind11.h>
+#include <string>
+
+namespace py = pybind11;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::Color
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathColor(py::module &m, const std::string &typestr);
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__COLOR_HH_