Add Helpers pybind11 interface

src/python/CMakeLists.txt

@@ -95,7 +95,6 @@ if (PYTHONLIBS_FOUND)
       Filter_TEST
       Frustum_TEST
       GaussMarkovProcess_TEST
-      Helpers_TEST
       Inertial_TEST
       Kmeans_TEST
       Line2_TEST

src/python_pybind11/CMakeLists.txt

@@ -15,6 +15,7 @@ if (${pybind11_FOUND})
   pybind11_add_module(math SHARED
     src/_ignition_math_pybind11.cc
     src/Angle.cc
+    src/Helpers.cc
     src/Rand.cc
   )
 
@@ -69,6 +70,7 @@ if (${pybind11_FOUND})
     # Add the Python tests
     set(python_tests
       Angle_TEST
+      Helpers_TEST
       Rand_TEST
       Vector2_TEST
       Vector3_TEST

src/python_pybind11/src/Helpers.cc

@@ -0,0 +1,231 @@
+/*
+ * 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 <tuple>
+
+#include <pybind11/stl.h>
+
+#include "Helpers.hh"
+#include <ignition/math/Helpers.hh>
+#include <ignition/math/Vector3.hh>
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+class Helpers
+{
+};
+
+/// \brief Compute sphere volume
+/// \param[in] _radius Sphere radius
+/// \return sphere volume
+float SphereVolume(const float _radius)
+{
+  return IGN_SPHERE_VOLUME(_radius);
+}
+
+/// \brief Compute cylinder volume
+/// \param[in] _r Cylinder base radius
+/// \param[in] _l Cylinder length
+/// \return cylinder volume
+float CylinderVolume(const float _r, const float _l)
+{
+  return IGN_CYLINDER_VOLUME(_r, _l);
+}
+
+/// \brief Compute box volume
+/// \param[in] _x X length
+/// \param[in] _y Y length
+/// \param[in] _z Z length
+/// \return box volume
+float BoxVolume(const float _x, const float _y, const float _z)
+{
+  return IGN_BOX_VOLUME(_x, _y, _z);
+}
+
+/// \brief Compute box volume from a vector
+/// \param[in] _v Vector3d that contains the box's dimensions.
+/// \return box volume from a vector
+float BoxVolumeV(const ignition::math::Vector3d &_v)
+{
+  return IGN_BOX_VOLUME_V(_v);
+}
+
+/// \brief Sort two numbers, such that _a <= _b
+/// \param[out] _a the first number
+/// \param[out] _b the second number
+/// \return a tuple with the numbers sorted
+std::tuple<float, float> Sort2(float _a, float _b)
+{
+  sort2(_a, _b);
+  return std::make_tuple(_a, _b);
+}
+
+/// \brief Sort three numbers, such that _a <= _b <= _c
+/// \param[out] _a the first number
+/// \param[out] _b the second number
+/// \param[out] _c the third number
+/// \return a tuple with the numbers sorted
+std::tuple<float, float, float> Sort3(float _a, float _b, float _c)
+{
+  sort3(_a, _b, _c);
+  return std::make_tuple(_a, _b, _c);
+}
+
+void defineMathHelpers(py::module &m)
+{
+  using Class = Helpers;
+
+  m.def("clamp", &ignition::math::clamp<float>, "Simple clamping function")
+   .def("clamp", &ignition::math::clamp<int>, "Simple clamping function")
+   .def("isnan",
+        py::overload_cast<float>(&ignition::math::isnan),
+        "Check if a float is NaN")
+   .def("fixnan",
+        py::overload_cast<float>(&ignition::math::fixnan),
+        "Fix a nan value.")
+   .def("is_even",
+        py::overload_cast<int>(&ignition::math::isEven),
+        "Check if parameter is even.")
+   .def("is_odd",
+        py::overload_cast<int>(&ignition::math::isOdd),
+        "Check if parameter is odd.")
+   .def("sgn",
+      &ignition::math::sgn<float>,
+      "Returns 0 for zero values, -1 for negative values and +1 for positive"
+      " values.")
+   .def("signum",
+        &ignition::math::signum<float>,
+        "Returns 0 for zero values, -1 for negative values and "
+        "+1 for positive values.")
+   .def("mean", &ignition::math::mean<float>, "Get mean of vector of values")
+   .def("variance",
+        &ignition::math::variance<float>,
+        "Get variance of vector of values")
+   .def("max",
+        &ignition::math::max<float>,
+        "Get the maximum value of vector of values")
+   .def("max",
+        &ignition::math::max<int>,
+        "Get the maximum value of vector of values")
+   .def("min",
+        &ignition::math::min<float>,
+        "Get the minimum value of vector of values")
+   .def("min",
+        &ignition::math::min<int>,
+        "Get the minimum value of vector of values")
+   .def("equal",
+        &ignition::math::equal<float>,
+        "check if two values are equal, within a tolerance")
+   .def("less_or_near_equal",
+        &ignition::math::lessOrNearEqual<float>,
+        "Inequality test, within a tolerance")
+   .def("greater_or_near_equal",
+        &ignition::math::greaterOrNearEqual<float>,
+        "Inequality test, within a tolerance")
+   .def("precision",
+        &ignition::math::precision<float>,
+        "Get value at a specified precision")
+   .def("sort2",
+        &Sort2,
+        "Sort two numbers, such that _a <= _b")
+   .def("sort3",
+        &Sort3,
+        "Sort three numbers, such that _a <= _b <= _c")
+   .def("is_power_of_two",
+        &ignition::math::isPowerOfTwo,
+        "Is this a power of 2?")
+   .def("round_up_power_of_two",
+        &ignition::math::roundUpPowerOfTwo,
+        "Get the smallest power of two that is greater or equal to a given "
+        "value")
+   .def("round_up_multiple",
+        &ignition::math::roundUpMultiple,
+        "Round a number up to the nearest multiple")
+   .def("parse_int",
+        &ignition::math::parseInt,
+        "parse string into an integer")
+   .def("parse_float",
+        &ignition::math::parseFloat,
+        "parse string into an float")
+   .def("ign_sphere_volume",
+        &SphereVolume,
+        "Compute sphere volume")
+   .def("ign_cylinder_volume",
+        &CylinderVolume,
+        "Compute cylinder volume")
+   .def("ign_box_volume",
+        &BoxVolume,
+        "Compute box volume")
+   .def("ign_box_volume_v",
+        &BoxVolumeV,
+        "Compute box volume from vector");
+   py::class_<Class>(m,
+                    "Helpers",
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+  .def_readonly_static("IGNZEROSIZET", &IGN_ZERO_SIZE_T, "IGN_PI")
+  .def_readonly_static("IGN_ONE_SIZE_T", &IGN_ONE_SIZE_T)
+  .def_readonly_static("IGN_TWO_SIZE_T", &IGN_TWO_SIZE_T)
+  .def_readonly_static("IGN_THREE_SIZE_T", &IGN_THREE_SIZE_T)
+  .def_readonly_static("IGN_FOUR_SIZE_T", &IGN_FOUR_SIZE_T)
+  .def_readonly_static("IGN_FIVE_SIZE_T", &IGN_FIVE_SIZE_T)
+  .def_readonly_static("IGN_SIX_SIZE_T", &IGN_SIX_SIZE_T)
+  .def_readonly_static("IGN_SEVEN_SIZE_T", &IGN_SEVEN_SIZE_T)
+  .def_readonly_static("IGN_EIGHT_SIZE_T", &IGN_EIGHT_SIZE_T)
+  .def_readonly_static("IGN_NINE_SIZE_T", &IGN_NINE_SIZE_T)
+  .def_readonly_static("MAX_D", &MAX_D)
+  .def_readonly_static("MIN_D", &MIN_D)
+  .def_readonly_static("LOW_D", &LOW_D)
+  .def_readonly_static("INF_D", &INF_D)
+  .def_readonly_static("NAN_D", &NAN_D)
+  .def_readonly_static("MAX_F", &MAX_F)
+  .def_readonly_static("MIN_F", &MIN_F)
+  .def_readonly_static("LOW_F", &LOW_F)
+  .def_readonly_static("INF_F", &INF_F)
+  .def_readonly_static("NAN_F", &NAN_F)
+  .def_readonly_static("MAX_UI16", &MAX_UI16)
+  .def_readonly_static("MIN_UI16", &MIN_UI16)
+  .def_readonly_static("LOW_UI16", &LOW_UI16)
+  .def_readonly_static("INF_UI16", &INF_UI16)
+  .def_readonly_static("MAX_I16", &MAX_I16)
+  .def_readonly_static("MIN_I16", &MIN_I16)
+  .def_readonly_static("LOW_I16", &LOW_I16)
+  .def_readonly_static("INF_I16", &INF_I16)
+  .def_readonly_static("MAX_UI32", &MAX_UI32)
+  .def_readonly_static("MIN_UI32", &MIN_UI32)
+  .def_readonly_static("LOW_UI32", &LOW_UI32)
+  .def_readonly_static("INF_UI32", &INF_UI32)
+  .def_readonly_static("MAX_I32", &MAX_I32)
+  .def_readonly_static("MIN_I32", &MIN_I32)
+  .def_readonly_static("LOW_I32", &LOW_I32)
+  .def_readonly_static("INF_I32", &INF_I32)
+  .def_readonly_static("MAX_UI64", &MAX_UI64)
+  .def_readonly_static("MIN_UI64", &MIN_UI64)
+  .def_readonly_static("LOW_UI64", &LOW_UI64)
+  .def_readonly_static("INF_UI64", &INF_UI64)
+  .def_readonly_static("MAX_I64", &MAX_I64)
+  .def_readonly_static("MIN_I64", &MIN_I64)
+  .def_readonly_static("LOW_I64", &LOW_I64)
+  .def_readonly_static("INF_I64", &INF_I64)
+  .def_readonly_static("NAN_I", &NAN_I);
+}
+}  // namespace python
+}  // namespace gazebo
+}  // namespace ignition

src/python_pybind11/src/Helpers.hh

@@ -0,0 +1,40 @@
+/*
+ * 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__HELPERS_HH_
+#define IGNITION_MATH_PYTHON__HELPERS_HH_
+
+#include <pybind11/pybind11.h>
+
+namespace py = pybind11;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a py::bind11 wrapper for an ignition::math::Helpers
+/**
+ * \param[in] module a py::bind11 module to add the definition to
+ */
+void defineMathHelpers(py::module &m);
+}  // namespace python
+}  // namespace gazebo
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__HELPERS_HH_

src/python_pybind11/src/_ignition_math_pybind11.cc

@@ -15,6 +15,7 @@
 #include <pybind11/pybind11.h>
 
 #include "Angle.hh"
+#include "Helpers.hh"
 #include "Rand.hh"
 #include "Vector2.hh"
 #include "Vector3.hh"
@@ -28,6 +29,8 @@ PYBIND11_MODULE(math, m)
 
   ignition::math::python::defineMathAngle(m, "Angle");
 
+  ignition::math::python::defineMathHelpers(m);
+
   ignition::math::python::defineMathRand(m, "Rand");
 
   ignition::math::python::defineMathVector2<double>(m, "Vector2d");

src/python/Helpers_TEST.py → src/python_pybind11/test/Helpers_TEST.py

@@ -15,14 +15,13 @@
 import math
 import unittest
 
-from ignition.math import (ign_box_volume, ign_box_volume_v, ign_cylinder_volume,
-                           IGN_PI, ign_sphere_volume, NAN_I, Vector3d, equal, fixnan,
+from ignition.math import (Helpers, ign_box_volume, ign_box_volume_v, ign_cylinder_volume,
+                           ign_sphere_volume, Vector3d, equal, fixnan,
                            greater_or_near_equal, is_even, is_odd, is_power_of_two, isnan,
                            less_or_near_equal, max, mean, min,
                            parse_float, parse_int, precision, round_up_multiple,
                            round_up_power_of_two, signum, sort2, sort3, variance)
 
-
 class TestHelpers(unittest.TestCase):
 
     def test_helpers(self):
@@ -32,9 +31,9 @@ def test_helpers(self):
         self.assertEqual(0, parse_int('    '))
         self.assertEqual(23, parse_int('23ab67'))
 
-        self.assertEqual(NAN_I, parse_int(''))
-        self.assertEqual(NAN_I, parse_int('?'))
-        self.assertEqual(NAN_I, parse_int('ab23ab67'))
+        self.assertEqual(Helpers.NAN_I, parse_int(''))
+        self.assertEqual(Helpers.NAN_I, parse_int('?'))
+        self.assertEqual(Helpers.NAN_I, parse_int('ab23ab67'))
 
         self.assertEqual(12.345, parse_float('12.345'))
         self.assertEqual(-12.345, parse_float('-12.345'))
@@ -243,16 +242,33 @@ def test_sort(self):
         self.assertLess(b, c)
 
     def test_volume(self):
-        self.assertEqual(ign_sphere_volume(1.0), 4.0*IGN_PI*math.pow(1, 3)/3.0)
-        self.assertEqual(ign_sphere_volume(0.1), 4.0*IGN_PI*math.pow(.1, 3)/3.0)
-        self.assertEqual(ign_sphere_volume(-1.1), 4.0*IGN_PI*math.pow(-1.1, 3)/3.0)
-
-        self.assertEqual(ign_cylinder_volume(0.5, 2.0), 2 * IGN_PI * math.pow(.5, 2))
-        self.assertEqual(ign_cylinder_volume(1, -1), -1 * IGN_PI * math.pow(1, 2))
+        self.assertAlmostEqual(
+            ign_sphere_volume(1.0),
+            4.0*math.pi*math.pow(1, 3)/3.0,
+            6)
+        self.assertAlmostEqual(
+            ign_sphere_volume(0.1),
+            4.0*math.pi*math.pow(.1, 3)/3.0,
+            6)
+        self.assertAlmostEqual(
+            ign_sphere_volume(-1.1),
+            4.0*math.pi*math.pow(-1.1, 3)/3.0,
+            6)
+
+        self.assertAlmostEqual(
+            ign_cylinder_volume(0.5, 2.0),
+            2 * math.pi * math.pow(.5, 2),
+            6)
+        self.assertAlmostEqual(
+            ign_cylinder_volume(1, -1),
+            -1 * math.pi * math.pow(1, 2),
+            6)
 
         self.assertEqual(ign_box_volume(1, 2, 3), 1 * 2 * 3)
-        self.assertEqual(ign_box_volume(.1, .2, .3),
-                         ign_box_volume_v(Vector3d(0.1, 0.2, 0.3)))
+        self.assertAlmostEqual(
+            ign_box_volume(.1, .2, .3),
+            ign_box_volume_v(Vector3d(0.1, 0.2, 0.3)),
+            6)
 
     def test_round_up_multiple(self):
         self.assertEqual(0, round_up_multiple(0, 0))