6 ➡️ 7

.github/ci-bionic/after_make.sh → .github/ci/after_make.sh

@@ -2,6 +2,8 @@
 
 set -x
 
+BUILD_DIR=`pwd`
+
 # Install
 make install
 
@@ -12,3 +14,5 @@ cd build
 cmake ..
 make
 ./graph_example
+
+cd $BUILD_DIR

.github/ci/packages.apt

@@ -0,0 +1,4 @@
+libeigen3-dev
+libignition-cmake2-dev
+ruby-dev
+swig

.github/workflows/ci.yml

@@ -0,0 +1,25 @@
+name: Ubuntu CI
+
+on: [push, pull_request]
+
+jobs:
+  bionic-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Bionic CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@master
+        with:
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}
+  focal-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Focal CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@focal

Changelog.md

@@ -25,6 +25,74 @@
 
 ### Ignition Math 6.x.x
 
+## Ignition Math 6.5.0 (2020-09-04)
+
+1. Add string to time function
+    * [Pull request 152](https://github.com/ignitionrobotics/ign-math/pull/152)
+
+1. Added functions to convert between time_point and secNsec
+    * [Pull request 150](https://github.com/ignitionrobotics/ign-math/pull/150)
+
+1. Fix IGNITION_MATH_XXX_VERSION
+    * [Pull request 151](https://github.com/ignitionrobotics/ign-math/pull/151)
+
+1. Add Max and Min function to Vector2.hh
+    * [Pull request 133](https://github.com/ignitionrobotics/ign-math/pull/133)
+    * [Pull request 148](https://github.com/ignitionrobotics/ign-math/pull/148)
+    * [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
+
+1. Round, Rounded, Correct, Distance(x, y, z, w) and operator< addition to Vector 4
+    * [Pull request 146](https://github.com/ignitionrobotics/ign-math/pull/146)
+    * [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
+
+1. Sum and normalized functions for Vector4
+    * [Pull request 140](https://github.com/ignitionrobotics/ign-math/pull/140)
+    * [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
+
+1. Vector4 Ruby tests - Vector4.i and Vector4_TEST.rb
+    * [Pull request 137](https://github.com/ignitionrobotics/ign-math/pull/137)
+    * [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
+
+1. Vector3 to vector4 functions
+    * [Pull request 132](https://github.com/ignitionrobotics/ign-math/pull/132)
+    * [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
+
+1. Update vector2 fuctions from vector3
+    * [Pull request 130](https://github.com/ignitionrobotics/ign-math/pull/130)
+    * [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
+
+1. Add Abs, Dot and AbsDot and respective tests to Vector4
+    * [Pull request 135](https://github.com/ignitionrobotics/ign-math/pull/135)
+    * [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
+
+1. Create abs, absDot and Correct functions for Vector2d
+    * [Pull request 143](https://github.com/ignitionrobotics/ign-math/pull/143)
+    * [Issue 71](https://github.com/ignitionrobotics/ign-math/issues/71)
+
+1. Document Ruby tests
+    * [Pull request 145](https://github.com/ignitionrobotics/ign-math/pull/145)
+
+1. Add header for numeric_limits allowing build on ubuntu 16.04
+    * [Pull request 119](https://github.com/ignitionrobotics/ign-math/pull/119)
+
+1. Add setter/getter for Pose's each element
+    * [Pull request 125](https://github.com/ignitionrobotics/ign-math/pull/125)
+    * [Issue 35](https://github.com/ignitionrobotics/ign-math/issues/35)
+
+1. Implement AxisAlignedBox Volume function
+    * [Pull request 126](https://github.com/ignitionrobotics/ign-math/pull/126)
+
+1. Add operator + for AxisAlignedBox and Vector3.
+    * [Pull request 122](https://github.com/ignitionrobotics/ign-math/pull/122)
+
+1. Make alpha optional when parsing a Color from an input stream.
+    * [Pull request 106](https://github.com/ignitionrobotics/ign-math/pull/106)
+
+1. GitHub actions CI and workflow updates
+    * [Pull request 117](https://github.com/ignitionrobotics/ign-math/pull/117)
+    * [Pull request 139](https://github.com/ignitionrobotics/ign-math/pull/139)
+    * [Pull request 110](https://github.com/ignitionrobotics/ign-math/pull/110)
+
 1. Added a Gauss-Markov Process class.
     * [BitBucket pull request 342](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/342)
 

README.md

@@ -106,6 +106,28 @@ Follow these steps to run tests and static code analysis in your clone of this r
     make codecheck
     ```
 
+## Ruby Tests
+
+### Usage
+
+The C++ classes are available in Ruby code by interface files (`.i`) used by swig to build a C++ extension module.
+
+The interfaces and Ruby test codes are in the `src` folder. To use a C++ class in Ruby you need to:
+
+1. Create an interface file describing the class as in Swig and Ruby reference at [The Ruby-to-C/C++ Mapping](http://www.swig.org/Doc1.3/Ruby.html#Ruby_nn11)
+
+2. Include the interface file in `/src/ing_math.i`
+
+3. Create the Ruby file and import the class as in Swig and Ruby reference at [C++ Classes](http://www.swig.org/Doc1.3/Ruby.html#Ruby_nn18)
+
+### Tests
+
+`make test` already runs all tests, including the ones made in Ruby, but you can run a Ruby test individually using
+
+```
+ctest -R Ruby_TEST.rb
+```
+
 # Folder Structure
 
 Refer to the following table for information about important directories and files in this repository.

include/ignition/math/AxisAlignedBox.hh

@@ -127,6 +127,11 @@ namespace ignition
       /// \return The new box
       public: AxisAlignedBox operator-(const Vector3d &_v);
 
+      /// \brief Add a vector to the min and max values
+      /// \param _v The vector to use during addition
+      /// \return The new box
+      public: AxisAlignedBox operator+(const Vector3d &_v);
+
       /// \brief Output operator
       /// \param[in] _out Output stream
       /// \param[in] _b AxisAlignedBox to output to the stream

include/ignition/math/Color.hh

@@ -247,13 +247,27 @@ namespace ignition
       }
 
       /// \brief Stream insertion operator
-      /// \param[in] _in the input stream
+      /// \param[in] _in the input stream. If the input stream does not include
+      /// an alpha value, a default alpha value of 1.0 will be used.
       /// \param[in] _pt
       public: friend std::istream &operator>> (std::istream &_in, Color &_pt)
       {
         // Skip white spaces
         _in.setf(std::ios_base::skipws);
-        _in >> _pt.r >> _pt.g >> _pt.b >> _pt.a;
+        _in >> _pt.r >> _pt.g >> _pt.b;
+        // Since alpha is optional, check if it's there before parsing
+        while (!_in.eof() && std::isspace(_in.peek()))
+        {
+          _in.get();
+        }
+        if (!_in.eof())
+        {
+          _in >> _pt.a;
+        }
+        else
+        {
+          _pt.a = 1.0;
+        }
         return _in;
       }
 

include/ignition/math/Filter.hh

@@ -78,7 +78,7 @@ namespace ignition
       }
 
       // Documentation Inherited.
-      public: virtual void Fc(double _fc, double _fs)
+      public: virtual void Fc(double _fc, double _fs) override
       {
         b1 = exp(-2.0 * IGN_PI * _fc / _fs);
         a0 = 1.0 - b1;
@@ -168,7 +168,7 @@ namespace ignition
       }
 
       // Documentation Inherited.
-      public: void Fc(double _fc, double _fs)
+      public: void Fc(double _fc, double _fs) override
       {
         this->Fc(_fc, _fs, 0.5);
       }
@@ -191,7 +191,7 @@ namespace ignition
 
       /// \brief Set the current filter's output.
       /// \param[in] _val New filter's output.
-      public: virtual void Set(const T &_val)
+      public: virtual void Set(const T &_val) override
       {
         this->y0 = this->y1 = this->y2 = this->x1 = this->x2 = _val;
       }