MassMatrix3 Python interface

src/python/CMakeLists.txt

@@ -96,6 +96,7 @@ if (PYTHONLIBS_FOUND)
       Kmeans_TEST
       Line2_TEST
       Line3_TEST
+      MassMatrix3_TEST
       Material_TEST
       Matrix3_TEST
       Matrix4_TEST

src/python/MassMatrix3.i

@@ -0,0 +1,114 @@
+/*
+ * 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 massmatrix3
+%{
+#include "ignition/math/MassMatrix3.hh"
+
+#include "ignition/math/Helpers.hh"
+#include "ignition/math/Material.hh"
+#include "ignition/math/Quaternion.hh"
+#include "ignition/math/Vector2.hh"
+#include "ignition/math/Vector3.hh"
+#include "ignition/math/Matrix3.hh"
+%}
+
+namespace ignition
+{
+  namespace math
+  {
+    template<typename T>
+    class MassMatrix3
+    {
+      %rename("%(undercase)s", %$isfunction, %$ismember, %$not %$isconstructor) "";
+      public: MassMatrix3();
+      public: MassMatrix3(const T &_mass,
+                          const Vector3<T> &_ixxyyzz,
+                          const Vector3<T> &_ixyxzyz);
+      public: MassMatrix3(const MassMatrix3<T> &_m);
+      public: ~MassMatrix3();
+      public: bool SetMass(const T &_m);
+      public: T Mass() const;
+      public: bool SetInertiaMatrix(
+                  const T &_ixx, const T &_iyy, const T &_izz,
+                  const T &_ixy, const T &_ixz, const T &_iyz);
+      public: Vector3<T> DiagonalMoments() const;
+      public: Vector3<T> OffDiagonalMoments() const;
+      public: bool SetDiagonalMoments(const Vector3<T> &_ixxyyzz);
+      public: bool SetOffDiagonalMoments(const Vector3<T> &_ixyxzyz);
+      public: T Ixx() const;
+      public: T Iyy() const;
+      public: T Izz() const;
+      public: T Ixy() const;
+      public: T Ixz() const;
+      public: T Iyz() const;
+      public: bool SetIxx(const T &_v);
+      public: bool SetIyy(const T &_v);
+      public: bool SetIzz(const T &_v);
+      public: bool SetIxy(const T &_v);
+      public: bool SetIxz(const T &_v);
+      public: bool SetIyz(const T &_v);
+      public: Matrix3<T> Moi() const;
+      public: bool SetMoi(const Matrix3<T> &_moi);
+      public: bool operator==(const MassMatrix3<T> &_m) const;
+      public: bool operator!=(const MassMatrix3<T> &_m) const;
+      public: bool IsNearPositive(const T _tolerance =
+                  IGN_MASSMATRIX3_DEFAULT_TOLERANCE<T>) const;
+      public: bool IsPositive(const T _tolerance =
+                  IGN_MASSMATRIX3_DEFAULT_TOLERANCE<T>) const;
+      public: T Epsilon(const T _tolerance =
+                  IGN_MASSMATRIX3_DEFAULT_TOLERANCE<T>) const;
+      public: static T Epsilon(const Vector3<T> &_moments,
+                  const T _tolerance =
+                  IGN_MASSMATRIX3_DEFAULT_TOLERANCE<T>);
+      public: bool IsValid(const T _tolerance =
+                  IGN_MASSMATRIX3_DEFAULT_TOLERANCE<T>) const;
+      public: static bool ValidMoments(const Vector3<T> &_moments,
+                  const T _tolerance = IGN_MASSMATRIX3_DEFAULT_TOLERANCE<T>);
+      public: Vector3<T> PrincipalMoments(const T _tol = 1e-6) const;
+      public: Quaternion<T> PrincipalAxesOffset(const T _tol = 1e-6) const;
+      public: bool EquivalentBox(Vector3<T> &_size,
+                                 Quaternion<T> &_rot,
+                                 const T _tol = 1e-6) const;
+      public: bool SetFromBox(const Material &_mat,
+                              const Vector3<T> &_size,
+                              const Quaternion<T> &_rot = Quaternion<T>::Identity);
+      public: bool SetFromBox(const T _mass,
+                              const Vector3<T> &_size,
+                              const Quaternion<T> &_rot = Quaternion<T>::Identity);
+      public: bool SetFromBox(const Vector3<T> &_size,
+                              const Quaternion<T> &_rot = Quaternion<T>::Identity);
+      public: bool SetFromCylinderZ(const Material &_mat,
+                                    const T _length,
+                                    const T _radius,
+                                    const Quaternion<T> &_rot = Quaternion<T>::Identity);
+      public: bool SetFromCylinderZ(const T _mass,
+                                    const T _length,
+                                    const T _radius,
+                            const Quaternion<T> &_rot = Quaternion<T>::Identity);
+      public: bool SetFromCylinderZ(const T _length,
+                                    const T _radius,
+                                    const Quaternion<T> &_rot);
+      public: bool SetFromSphere(const Material &_mat, const T _radius);
+      public: bool SetFromSphere(const T _mass, const T _radius);
+      public: bool SetFromSphere(const T _radius);
+    };
+
+    %template(MassMatrix3d) MassMatrix3<double>;
+    %template(MassMatrix3f) MassMatrix3<float>;
+  }
+}