Merge branch 'main' into ahcorde/python/plane

.github/workflows/macos.yml

@@ -39,7 +39,9 @@ jobs:
     - run: mkdir build
     - name: cmake
       working-directory: build
-      run: cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/Cellar/${PACKAGE}/HEAD
+      run: |
+        export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python
+        cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/Cellar/${PACKAGE}/HEAD
     - run: make
       working-directory: build
     - run: make test

python/CMakeLists.txt

@@ -40,6 +40,7 @@ pybind11_add_module(sdformat SHARED
   src/sdf/_ignition_sdformat_pybind11.cc
   src/sdf/pyBox.cc
   src/sdf/pyError.cc
+  src/sdf/pyMesh.cc
   src/sdf/pyParserConfig.cc
   src/sdf/pyPlane.cc
   src/sdf/pySphere.cc
@@ -64,6 +65,7 @@ if (BUILD_TESTING)
   set(python_tests
     pyBox_TEST
     pyError_TEST
+    pyMesh_TEST
     pyParserConfig_TEST
     pyPlane_TEST
     pySphere_TEST

python/src/sdf/_ignition_sdformat_pybind11.cc

@@ -18,6 +18,7 @@
 
 #include "pyBox.hh"
 #include "pyError.hh"
+#include "pyMesh.hh"
 #include "pyParserConfig.hh"
 #include "pyPlane.hh"
 #include "pySphere.hh"
@@ -27,6 +28,7 @@ PYBIND11_MODULE(sdformat, m) {
 
   sdf::python::defineBox(m);
   sdf::python::defineError(m);
+  sdf::python::defineMesh(m);
   sdf::python::defineParserConfig(m);
   sdf::python::definePlane(m);
   sdf::python::defineSphere(m);

python/src/sdf/pyMesh.cc

@@ -0,0 +1,73 @@
+/*
+ * 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 "pyMesh.hh"
+
+#include <pybind11/pybind11.h>
+
+#include "sdf/ParserConfig.hh"
+#include "sdf/Mesh.hh"
+
+using namespace pybind11::literals;
+
+namespace sdf
+{
+// Inline bracket to help doxygen filtering.
+inline namespace SDF_VERSION_NAMESPACE {
+namespace python
+{
+/////////////////////////////////////////////////
+void defineMesh(pybind11::object module)
+{
+  pybind11::class_<sdf::Mesh>(module, "Mesh")
+    .def(pybind11::init<>())
+    .def(pybind11::init<sdf::Mesh>())
+    .def("uri", &sdf::Mesh::Uri,
+         "Get the mesh's URI.")
+    .def("set_uri", &sdf::Mesh::SetUri,
+         "Set the mesh's URI.")
+    .def("file_path", &sdf::Mesh::FilePath,
+         "The path to the file where this element was loaded from.")
+    .def("set_file_path", &sdf::Mesh::SetFilePath,
+         "Set the path to the file where this element was loaded from.")
+    .def("scale", &sdf::Mesh::Scale,
+         "Get the mesh's scale factor.")
+    .def("set_scale", &sdf::Mesh::SetScale,
+         "Set the mesh's scale factor.")
+    .def("submesh", &sdf::Mesh::Submesh,
+         "A submesh, contained with the mesh at the specified URI, may "
+         "optionally be specified. If specified, this submesh should be used "
+         "instead of the entire mesh.")
+    .def("set_submesh", &sdf::Mesh::SetSubmesh,
+         "Set the mesh's submesh. See Submesh() for more information.")
+    .def("center_submesh", &sdf::Mesh::CenterSubmesh,
+         "Get whether the submesh should be centered at 0,0,0. This will "
+         "effectively remove any transformations on the submesh before the "
+         "poses from parent links and models are applied. The return value is "
+         "only applicable if a SubMesh has been specified.")
+    .def("set_center_submesh", &sdf::Mesh::SetCenterSubmesh,
+         "Set whether the submesh should be centered. See CenterSubmesh() "
+         "for more information.")
+    .def("__copy__", [](const sdf::Mesh &self) {
+      return sdf::Mesh(self);
+    })
+    .def("__deepcopy__", [](const sdf::Mesh &self, pybind11::dict) {
+      return sdf::Mesh(self);
+    }, "memo"_a);
+}
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf

python/src/sdf/pyMesh.hh

@@ -0,0 +1,41 @@
+/*
+ * 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 SDFORMAT_PYTHON_MESH_HH_
+#define SDFORMAT_PYTHON_MESH_HH_
+
+#include <pybind11/pybind11.h>
+
+#include "sdf/Mesh.hh"
+
+#include "sdf/config.hh"
+
+namespace sdf
+{
+// Inline bracket to help doxygen filtering.
+inline namespace SDF_VERSION_NAMESPACE {
+namespace python
+{
+/// Define a pybind11 wrapper for an sdf::Mesh
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void defineMesh(pybind11::object module);
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf
+
+#endif  // SDFORMAT_PYTHON_MESH_HH_

python/test/pyMesh_TEST.py

@@ -0,0 +1,117 @@
+# 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.
+
+import copy
+from sdformat import Mesh
+from ignition.math import Vector3d
+import unittest
+
+
+class MeshTEST(unittest.TestCase):
+
+  def test_default_construction(self):
+    mesh = Mesh()
+
+    self.assertEqual("", mesh.file_path())
+    self.assertEqual("", mesh.uri())
+    self.assertEqual("", mesh.submesh())
+    self.assertTrue(Vector3d(1, 1, 1) == mesh.scale())
+    self.assertFalse(mesh.center_submesh())
+
+
+  def test_assigment(self):
+    mesh = Mesh()
+    mesh.set_uri("banana")
+    mesh.set_submesh("watermelon")
+    mesh.set_center_submesh(True)
+    mesh.set_scale(Vector3d(0.5, 0.6, 0.7))
+    mesh.set_file_path("/pear")
+
+    mesh2 = mesh
+    self.assertEqual("banana", mesh2.uri())
+    self.assertEqual("watermelon", mesh2.submesh())
+    self.assertEqual(Vector3d(0.5, 0.6, 0.7), mesh2.scale())
+    self.assertTrue(mesh2.center_submesh())
+    self.assertEqual("/pear", mesh2.file_path())
+
+    mesh.set_file_path("/apple")
+    self.assertEqual("/apple", mesh2.file_path())
+
+    mesh.set_scale(Vector3d(0.3, 0.2, 0.4))
+    self.assertEqual(Vector3d(0.3, 0.2, 0.4), mesh2.scale())
+
+    mesh.set_center_submesh(False)
+    self.assertFalse(mesh2.center_submesh())
+
+    mesh.set_submesh("melon")
+    self.assertEqual("melon", mesh2.submesh())
+
+    mesh.set_uri("pineapple")
+    self.assertEqual("pineapple", mesh2.uri())
+
+
+  def test_deepcopy_construction(self):
+    mesh = Mesh()
+    mesh.set_uri("banana")
+    mesh.set_submesh("watermelon")
+    mesh.set_center_submesh(True)
+    mesh.set_scale(Vector3d(0.5, 0.6, 0.7))
+    mesh.set_file_path("/pear")
+
+    mesh2 = copy.deepcopy(mesh)
+    self.assertEqual("banana", mesh2.uri())
+    self.assertEqual("watermelon", mesh2.submesh())
+    self.assertEqual(Vector3d(0.5, 0.6, 0.7), mesh2.scale())
+    self.assertTrue(mesh2.center_submesh())
+    self.assertEqual("/pear", mesh2.file_path())
+
+    mesh.set_file_path("/apple")
+    mesh.set_scale(Vector3d(0.3, 0.2, 0.4))
+    mesh.set_center_submesh(False)
+    mesh.set_submesh("melon")
+    mesh.set_uri("pineapple")
+
+    self.assertEqual("banana", mesh2.uri())
+    self.assertEqual("watermelon", mesh2.submesh())
+    self.assertEqual(Vector3d(0.5, 0.6, 0.7), mesh2.scale())
+    self.assertTrue(mesh2.center_submesh())
+    self.assertEqual("/pear", mesh2.file_path())
+
+
+  def test_set(self):
+    mesh = Mesh()
+
+    self.assertEqual("", mesh.uri())
+    mesh.set_uri("http://myuri.com")
+    self.assertEqual("http://myuri.com", mesh.uri())
+
+    self.assertEqual("", mesh.submesh())
+    mesh.set_submesh("my_submesh")
+    self.assertEqual("my_submesh", mesh.submesh())
+
+    self.assertTrue(Vector3d(1, 1, 1) == mesh.scale())
+    mesh.set_scale(Vector3d(0.2, 1.4, 7.8))
+    self.assertTrue(Vector3d(0.2, 1.4, 7.8) == mesh.scale())
+
+    self.assertFalse(mesh.center_submesh())
+    mesh.set_center_submesh(True)
+    self.assertTrue(mesh.center_submesh())
+
+    self.assertEqual("", mesh.file_path())
+    mesh.set_file_path("/mypath")
+    self.assertEqual("/mypath", mesh.file_path())
+
+
+if __name__ == '__main__':
+    unittest.main()