Added Filter pybind11 interface

src/python/CMakeLists.txt

@@ -91,7 +91,6 @@ if (PYTHONLIBS_FOUND)
       Box_TEST
       Cylinder_TEST
       DiffDriveOdometry_TEST
-      Filter_TEST
       Frustum_TEST
       GaussMarkovProcess_TEST
       Inertial_TEST

src/python_pybind11/CMakeLists.txt

@@ -74,6 +74,7 @@ if (${pybind11_FOUND})
     set(python_tests
       Angle_TEST
       Color_TEST
+      Filter_TEST
       Helpers_TEST
       Line2_TEST
       Line3_TEST

src/python_pybind11/src/Filter.hh

@@ -0,0 +1,315 @@
+/*
+ * 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__FILTER_HH_
+#define IGNITION_MATH_PYTHON__FILTER_HH_
+
+#include <string>
+
+#include <pybind11/pybind11.h>
+
+#include <ignition/math/Filter.hh>
+#include <ignition/math/Quaternion.hh>
+#include <ignition/math/Vector3.hh>
+
+namespace py = pybind11;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+template<typename T>
+class FilterTrampoline : public Filter<T> {
+public:
+    // Inherit the constructors
+    FilterTrampoline() : Filter<T>() {}
+
+    // Trampoline (need one for each virtual function)
+    void Set(const T &_val) override
+    {
+        PYBIND11_OVERLOAD_PURE(
+            void,        // Return type (ret_type)
+            Filter<T>,   // Parent class (cname)
+            Set,         // Name of function in C++
+            _val         // Argument(s) (...)
+        );
+    }
+    // Trampoline (need one for each virtual function)
+    void Fc(double _fc, double _fs) override
+    {
+        PYBIND11_OVERLOAD_PURE(
+            void,         // Return type (ret_type)
+            Filter<T>,    // Parent class (cname)
+            Fc,           // Name of function in C++ (must match Python name)
+            _fc, _fs      // Argument(s) (...)
+        );
+    }
+    // Trampoline (need one for each virtual function)
+    const T &Value() const override
+    {
+        PYBIND11_OVERLOAD_PURE(
+            const T&,     // Return type (ret_type)
+            Filter<T>,    // Parent class (cname)
+            Value         // Name of function in C++ (must match Python name)
+        );
+    }
+};
+
+/// Define a pybind11 wrapper for an ignition::math::Filter
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+template<typename T>
+void defineMathFilter(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::Filter<T>;
+  std::string pyclass_name = typestr;
+  py::class_<Class, FilterTrampoline<T>>(m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+    .def(py::init<>())
+    .def("set",
+         &Class::Set,
+         "Set the output of the filter.")
+    .def("fc",
+         &Class::Fc,
+         "Set the cutoff frequency and sample rate.")
+    .def("value",
+         &Class::Value,
+         "Get the output of the filter.");
+}
+
+template<typename T>
+class OnePoleTrampoline : public OnePole<T> {
+public:
+  OnePoleTrampoline() : OnePole<T>() {}
+  OnePoleTrampoline(double _fc, double _fs) : OnePole<T>(_fc, _fs) {}
+
+  // Trampoline (need one for each virtual function)
+  void Fc(double _fc, double _fs) override
+  {
+      PYBIND11_OVERLOAD_PURE(
+          void,         // Return type (ret_type)
+          OnePole<T>,   // Parent class (cname)
+          Fc,           // Name of function in C++ (must match Python name)
+          _fc,          // Argument(s) (...)
+          _fs
+      );
+  }
+};
+
+/// Define a pybind11 wrapper for an ignition::math::OnePole
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+template<typename T>
+void defineMathOnePole(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::OnePole<T>;
+  std::string pyclass_name = typestr;
+  py::class_<Class, OnePoleTrampoline<T>>(m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+    .def(py::init<>())
+    .def(py::init<double, double>())
+    .def("set",
+         &Class::Set,
+         "Set the output of the filter.")
+    .def("value",
+         &Class::Value,
+         "Get the output of the filter.")
+    .def("fc",
+         &Class::Fc,
+         "Set the cutoff frequency and sample rate.")
+    .def("process",
+         &Class::Process,
+         "Update the filter's output.");
+}
+
+/// Define a pybind11 wrapper for an ignition::math::OnePoleQuaterion
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathOnePoleQuaternion(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::OnePoleQuaternion;
+  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<double, double>())
+    .def("set",
+         &Class::Set,
+         "Set the output of the filter.")
+    .def("value",
+         &Class::Value,
+         "Get the output of the filter.")
+    .def("fc",
+         &Class::Fc,
+         "Set the cutoff frequency and sample rate.")
+    .def("process",
+         &Class::Process,
+         "Update the filter's output.");
+}
+
+/// Define a pybind11 wrapper for an ignition::math::OnePoleVector3
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathOnePoleVector3(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::OnePoleVector3;
+  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<double, double>())
+    .def("set",
+         &Class::Set,
+         "Set the output of the filter.")
+    .def("value",
+         &Class::
+         Value,
+         "Get the output of the filter.")
+    .def("fc",
+         &Class::Fc,
+         "Set the cutoff frequency and sample rate.")
+    .def("process",
+         &Class::Process,
+         "Update the filter's output.");
+}
+
+template<typename T>
+class BiQuadTrampoline : public BiQuad<T>
+{
+public:
+  BiQuadTrampoline() : BiQuad<T>() {}
+  BiQuadTrampoline(double _fc, double _fs) : BiQuad<T>(_fc, _fs) {}
+
+  // Trampoline (need one for each virtual function)
+  void Fc(double _fc, double _fs) override
+  {
+      PYBIND11_OVERLOAD_PURE(
+          void,         // Return type (ret_type)
+          Filter<T>,    // Parent class (cname)
+          Fc,           // Name of function in C++ (must match Python name)
+          _fc, _fs      // Argument(s) (...)
+      );
+  }
+  // Trampoline (need one for each virtual function)
+  void Set(const T &_val) override
+  {
+      PYBIND11_OVERLOAD_PURE(
+          void,         // Return type (ret_type)
+          Filter<T>,    // Parent class (cname)
+          Set,          // Name of function in C++ (must match Python name)
+          _val          // Argument(s) (...)
+      );
+  }
+  // Trampoline (need one for each virtual function)
+  const T& Process(const T &_x) override
+  {
+      PYBIND11_OVERLOAD_PURE(
+          const T&,     // Return type (ret_type)
+          Filter<T>,    // Parent class (cname)
+          Process,      // Name of function in C++ (must match Python name)
+          _x            // Argument(s) (...)
+      );
+  }
+};
+
+/// Define a pybind11 wrapper for an ignition::math::BiQuad
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+template<typename T>
+void defineMathBiQuad(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::BiQuad<T>;
+  std::string pyclass_name = typestr;
+  py::class_<Class, BiQuadTrampoline<T>>(m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+    .def(py::init<>())
+    .def(py::init<double, double>())
+    .def("set",
+         &Class::Set,
+         "Set the output of the filter.")
+    .def("fc",
+          py::overload_cast<double, double>(&Class::Fc),
+         "Set the cutoff frequency and sample rate.")
+    .def("value",
+         &Class::Value,
+         "Get the output of the filter.")
+    .def("fc",
+         py::overload_cast<double, double, double>(&Class::Fc),
+         "Set the cutoff frequency, sample rate and Q coefficient.")
+    .def("process",
+         &Class::Process,
+         "Update the filter's output.");
+}
+
+/// Define a pybind11 wrapper for an ignition::math::BiQuadVector3
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathBiQuadVector3(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::BiQuadVector3;
+  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<double, double>())
+    .def("set",
+         &Class::Set,
+         "Set the output of the filter.")
+    .def("fc",
+          py::overload_cast<double, double>(&Class::Fc),
+         "Set the cutoff frequency and sample rate.")
+    .def("value",
+         &Class::Value,
+         "Get the output of the filter.")
+    .def("fc",
+         py::overload_cast<double, double, double>(&Class::Fc),
+         "Set the cutoff frequency, sample rate and Q coefficient.")
+    .def("process",
+         &Class::Process,
+         "Update the filter's output.");
+}
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__FILTER_HH_

src/python_pybind11/src/_ignition_math_pybind11.cc

@@ -16,6 +16,7 @@
 
 #include "Angle.hh"
 #include "Color.hh"
+#include "Filter.hh"
 #include "Helpers.hh"
 #include "Line2.hh"
 #include "Line3.hh"
@@ -76,4 +77,24 @@ PYBIND11_MODULE(math, m)
   ignition::math::python::defineMathQuaternion<int>(m, "Quaternioni");
   ignition::math::python::defineMathQuaternion<double>(m, "Quaterniond");
   ignition::math::python::defineMathQuaternion<float>(m, "Quaternionf");
+
+  ignition::math::python::defineMathFilter<int>(m, "Filteri");
+  ignition::math::python::defineMathFilter<float>(m, "Filterf");
+  ignition::math::python::defineMathFilter<double>(m, "Filterd");
+
+  ignition::math::python::defineMathBiQuad<int>(m, "BiQuadi");
+  ignition::math::python::defineMathBiQuad<float>(m, "BiQuadf");
+  ignition::math::python::defineMathBiQuad<double>(m, "BiQuadd");
+
+  ignition::math::python::defineMathBiQuadVector3(
+    m, "BiQuadVector3");
+
+  ignition::math::python::defineMathOnePole<int>(m, "OnePolei");
+  ignition::math::python::defineMathOnePole<float>(m, "OnePolef");
+  ignition::math::python::defineMathOnePole<double>(m, "OnePoled");
+
+  ignition::math::python::defineMathOnePoleQuaternion(
+    m, "OnePoleQuaternion");
+  ignition::math::python::defineMathOnePoleVector3(
+    m, "OnePoleVector3");
 }