Merge 6 -> 7 as of pybind11 GaussMarkovProcess

examples/gauss_markov_process_example.py

@@ -0,0 +1,44 @@
+# 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.
+
+# Modify the PYTHONPATH environment variable to include the ignition math
+# library install path. For example, if you install to /usr:
+#
+# $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
+#
+# You can plot the data generated by this program by following these
+# steps.
+#
+# 1. Run this program and save the output to a file:
+#     python3 gauss_markov_process_example.py > plot.data
+#
+# 2. Use gnuplot to create a plot:
+#     gnuplot -e 'set terminal jpeg; plot "plot.data" with lines' > out.jpg
+import datetime
+from ignition.math import GaussMarkovProcess
+
+# Create the process with:
+#   * Start value of 20.2
+#   * Theta (rate at which the process should approach the mean) of 0.1
+#   * Mu (mean value) 0.
+#   * Sigma (volatility) of 0.5.
+gmp = GaussMarkovProcess(20.2, 0.1, 0, 0.5);
+
+dt = datetime.timedelta(milliseconds=100)
+
+# This process should decrease toward the mean value of 0.
+# With noise of 0.5, the process will walk a bit.
+for i in range(1000):
+    value = gmp.update(dt);
+    print(value);

examples/gauss_markov_process_example.rb

@@ -0,0 +1,42 @@
+# 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.
+
+# Modify the RUBYLIB environment variable to include the ignition math
+# library install path. For example, if you install to /user:
+#
+# $ export RUBYLIB=/usr/lib/ruby:$RUBYLIB
+#
+# You can plot the data generated by this program by following these
+# steps.
+#
+# 1. Run this program and save the output to a file:
+#     ruby gauss_markov_process_example.rb > plot.data
+#
+# 2. Use gnuplot to create a plot:
+#     gnuplot -e 'set terminal jpeg; plot "plot.data" with lines' > out.jpg
+require 'ignition/math'
+
+# Create the process with:
+#   * Start value of 20.2
+#   * Theta (rate at which the process should approach the mean) of 0.1
+#   * Mu (mean value) 0.
+#   * Sigma (volatility) of 0.5.
+gmp = Ignition::Math::GaussMarkovProcess.new(20.2, 0.1, 0, 0.5);
+
+# This process should decrease toward the mean value of 0.
+# With noise of 0.5, the process will walk a bit.
+for i in 0..1000 do
+    value = gmp.Update(0.1);
+    puts(value);
+end

include/ignition/math/Quaternion.hh

@@ -1055,7 +1055,7 @@ namespace ignition
                                       const T _deltaT) const
       {
         Quaternion<T> deltaQ;
-        Vector3<T> theta = _angularVelocity * _deltaT * 0.5;
+        Vector3<T> theta = _angularVelocity * _deltaT / 2;
         T thetaMagSq = theta.SquaredLength();
         T s;
         if (thetaMagSq * thetaMagSq / 24.0 < MIN_D)

src/python/CMakeLists.txt

@@ -91,32 +91,18 @@ if (PYTHONLIBS_FOUND)
       Box_TEST
       Cylinder_TEST
       DiffDriveOdometry_TEST
-      Filter_TEST
       Frustum_TEST
-      GaussMarkovProcess_TEST
       Inertial_TEST
-      Kmeans_TEST
-      Line3_TEST
       MassMatrix3_TEST
-      Material_TEST
-      Matrix3_TEST
       Matrix4_TEST
-      MovingWindowFilter_TEST
       OrientedBox_TEST
       PID_TEST
       Plane_TEST
-      Pose3_TEST
       python_TEST
-      Quaternion_TEST
-      RotationSpline_TEST
-      SemanticVersion_TEST
       SignalStats_TEST
       Sphere_TEST
       SphericalCoordinates_TEST
-      Spline_TEST
       Temperature_TEST
-      Triangle_TEST
-      Triangle3_TEST
       Vector3Stats_TEST
     )
 

src/python_pybind11/CMakeLists.txt

@@ -16,9 +16,15 @@ if (${pybind11_FOUND})
     src/_ignition_math_pybind11.cc
     src/Angle.cc
     src/Color.cc
+    src/GaussMarkovProcess.cc
     src/Helpers.cc
+    src/Kmeans.cc
+    src/Material.cc
     src/Rand.cc
     src/RollingMean.cc
+    src/RotationSpline.cc
+    src/SemanticVersion.cc
+    src/Spline.cc
     src/StopWatch.cc
   )
 
@@ -74,11 +80,25 @@ if (${pybind11_FOUND})
     set(python_tests
       Angle_TEST
       Color_TEST
+      Filter_TEST
+      GaussMarkovProcess_TEST
       Helpers_TEST
+      Kmeans_TEST
       Line2_TEST
+      Line3_TEST
+      Material_TEST
+      Matrix3_TEST
+      MovingWindowFilter_TEST
+      Pose3_TEST
+      Quaternion_TEST
       Rand_TEST
       RollingMean_TEST
+      RotationSpline_TEST
+      SemanticVersion_TEST
+      Spline_TEST
       StopWatch_TEST
+      Triangle_TEST
+      Triangle3_TEST
       Vector2_TEST
       Vector3_TEST
       Vector4_TEST