OrientedBox Python interface (#276)

Signed-off-by: ahcorde <[email protected]> * Rename [XYZ]Length methods to [xyz]_length Signed-off-by: Steve Peters <[email protected]> Co-authored-by: Steve Peters <[email protected]>
gazebosim · Nov 9, 2021 · cbc2a1b · cbc2a1b
1 parent f92b793
commit cbc2a1b
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diff --git a/src/python/CMakeLists.txt b/src/python/CMakeLists.txt
@@ -105,6 +105,7 @@ if (PYTHONLIBS_FOUND)
       Matrix3_TEST
       Matrix4_TEST
       MovingWindowFilter_TEST
+      OrientedBox_TEST
       PID_TEST
       Plane_TEST
       Pose3_TEST

diff --git a/src/python/OrientedBox.i b/src/python/OrientedBox.i
@@ -0,0 +1,93 @@
+/*
+ * 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 orientedbox
+%{
+#include <iostream>
+#include <ignition/math/OrientedBox.hh>
+#include <ignition/math/Helpers.hh>
+#include <ignition/math/MassMatrix3.hh>
+#include <ignition/math/Material.hh>
+#include <ignition/math/Matrix4.hh>
+#include <ignition/math/Pose3.hh>
+#include <ignition/math/Vector3.hh>
+#include <ignition/math/config.hh>
+%}
+
+namespace ignition
+{
+  namespace math
+  {
+    template<typename T>
+    class ignition::math::OrientedBox
+    {
+      %rename("%(undercase)s", %$isfunction, %$ismember, %$not %$isconstructor) "";
+      public: OrientedBox();
+
+      public: OrientedBox(
+        const ignition::math::Vector3<T> &_size, const ignition::math::Pose3<T> &_pose);
+
+      public: OrientedBox(const ignition::math::Vector3<T> &_size, const ignition::math::Pose3<T> &_pose,
+                  const ignition::math::Material &_mat);
+
+      public: explicit OrientedBox(const ignition::math::Vector3<T> &_size);
+
+      public: explicit OrientedBox(const ignition::math::Vector3<T> &_size,
+                                   const ignition::math::Material &_mat);
+
+      public: OrientedBox(const ignition::math::OrientedBox<T> &_b);
+
+      public: virtual ~OrientedBox();
+
+      %rename(x_length) XLength;
+      public: T XLength() const;
+
+      %rename(y_length) YLength;
+      public: T YLength() const;
+
+      %rename(z_length) ZLength;
+      public: T ZLength() const;
+
+      public: const ignition::math::Vector3<T> &Size() const;
+
+      public: const ignition::math::Pose3<T> &Pose() const;
+
+      public: void Size(ignition::math::Vector3<T> &_size);
+
+      public: void Pose(ignition::math::Pose3<T> &_pose);
+
+      public: bool operator==(const ignition::math::OrientedBox<T> &_b) const;
+
+      public: bool operator!=(const ignition::math::OrientedBox<T> &_b) const;
+
+      public: bool Contains(const ignition::math::Vector3<double> &_p) const;
+
+      public: const ignition::math::ignition::math::Material &ignition::math::Material() const;
+
+      public: void ignition::math::SetMaterial(const ignition::math::ignition::math::Material &_mat);
+
+      public: T Volume() const;
+
+      public: T DensityFromMass(const T _mass) const;
+
+      public: bool SetDensityFromMass(const T _mass);
+
+      public: bool MassMatrix(MassMatrix3<T> &_massMat) const;
+    };
+    %template(OrientedBoxd) OrientedBox<double>;
+  }
+}