Added Polynomial3 Python interface

src/python_pybind11/CMakeLists.txt

@@ -30,6 +30,7 @@ pybind11_add_module(math SHARED
   src/Matrix6.cc
   src/MovingWindowFilter.cc
   src/PID.cc
+  src/Polynomial3.cc
   src/Pose3.cc
   src/Quaternion.cc
   src/Rand.cc
@@ -124,6 +125,7 @@ if (BUILD_TESTING)
     OrientedBox_TEST
     PID_TEST
     Plane_TEST
+    Polynomial3_TEST
     Pose3_TEST
     Quaternion_TEST
     Rand_TEST

src/python_pybind11/src/Polynomial3.cc

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2022 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 "Polynomial3.hh"
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathPolynomial3(py::module &m, const std::string &typestr)
+{
+  helpDefineMathPolynomial3<float>(m, typestr + "f");
+  helpDefineMathPolynomial3<double>(m, typestr + "d");
+}
+
+}  // namespace python
+}  // namespace math
+}  // namespace ignition

src/python_pybind11/src/Polynomial3.hh

@@ -0,0 +1,111 @@
+/*
+ * Copyright (C) 2022 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__POLYNOMIAL3_HH_
+#define IGNITION_MATH_PYTHON__POLYNOMIAL3_HH_
+
+#include <string>
+#include <sstream>
+
+#include <pybind11/pybind11.h>
+
+#include <ignition/math/Polynomial3.hh>
+#include <ignition/math/Vector4.hh>
+
+namespace py = pybind11;
+using namespace pybind11::literals;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Help define a pybind11 wrapper for an ignition::math::Polynomial3
+/**
+ * \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 helpDefineMathPolynomial3(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::Polynomial3<T>;
+  auto toString = [](const Class &si) {
+    std::stringstream stream;
+    stream << si;
+    return stream.str();
+  };
+  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<Vector4<T>>())
+    .def("constant",
+         &Class::Constant,
+         "Make a constant polynomial")
+    .def("coeffs",
+         &Class::Coeffs,
+         "Get the polynomial coefficients")
+    .def("evaluate",
+         &Class::Evaluate,
+         "Evaluate the polynomial at `_x`. For non-finite `_x`, this function "
+         "computes p(z) as z tends to `_x`.")
+    .def("minimum",
+         [](const Class &self, const Interval<T> &_interval, T &_xMin)
+         {
+           T result = self.Minimum(_interval, _xMin);
+           return std::make_tuple(result, _xMin);
+         },
+         "Compute polynomial minimum in an `_interval`")
+    .def("minimum",
+         py::overload_cast<const Interval<T> &>(&Class::Minimum, py::const_),
+         "Compute polynomial minimum in an `_interval`")
+    .def("minimum",
+         [](const Class &self, T &_xMin)
+         {
+           T result = self.Minimum(_xMin);
+           return std::make_tuple(result, _xMin);
+         },
+         "Compute polynomial minimum in an `_interval`")
+    .def("minimum",
+         py::overload_cast<>(&Class::Minimum, py::const_),
+         "Compute polynomial minimum in an `_interval`")
+    .def("__call__", &Class::operator())
+    .def("__copy__", [](const Class &self) {
+      return Class(self);
+    })
+    .def("__deepcopy__", [](const Class &self, py::dict) {
+      return Class(self);
+    }, "memo"_a)
+    .def("__str__", toString)
+    .def("__repr__", toString);
+}
+
+/// Define a pybind11 wrapper for an ignition::math::Polynomial3
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathPolynomial3(py::module &m, const std::string &typestr);
+
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__POLYNOMIAL3_HH_

src/python_pybind11/src/_ignition_math_pybind11.cc

@@ -40,6 +40,7 @@
 #include "OrientedBox.hh"
 #include "PID.hh"
 #include "Plane.hh"
+#include "Polynomial3.hh"
 #include "Pose3.hh"
 #include "Quaternion.hh"
 #include "Rand.hh"
@@ -135,6 +136,8 @@ PYBIND11_MODULE(math, m)
 
   ignition::math::python::defineMathInterval(m, "Interval");
 
+  ignition::math::python::defineMathPolynomial3(m, "Polynomial3");
+
   ignition::math::python::defineMathLine2(m, "Line2");
 
   ignition::math::python::defineMathLine3(m, "Line3");