Merge branch 'main' into jennuine/ostream_precision

Signed-off-by: Jenn Nguyen <[email protected]>

.github/ci/packages.apt

@@ -9,6 +9,7 @@ liburdfdom-dev
 libxml2-utils
 python3-dev
 python3-distutils
+python3-ignition-math7
 python3-psutil
 python3-pybind11
 ruby-dev

.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

@@ -38,7 +38,11 @@ endfunction()
 
 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/pySphere.cc
 )
 
 target_link_libraries(sdformat PRIVATE
@@ -48,15 +52,28 @@ target_link_libraries(sdformat PRIVATE
 configure_build_install_location(sdformat)
 
 if (BUILD_TESTING)
+  pybind11_add_module(sdformattest SHARED
+    test/_ignition_sdformattest_pybind11.cc
+  )
+
+  target_link_libraries(sdformattest PRIVATE
+    ${PROJECT_LIBRARY_TARGET_NAME}
+    ignition-utils${IGN_UTILS_VER}::ignition-utils${IGN_UTILS_VER}
+  )
+
   set(python_tests
+    pyBox_TEST
     pyError_TEST
+    pyMesh_TEST
+    pyParserConfig_TEST
+    pySphere_TEST
   )
 
   foreach (test ${python_tests})
     add_test(NAME ${test}.py COMMAND
       "${Python3_EXECUTABLE}" "${CMAKE_SOURCE_DIR}/python/test/${test}.py")
     set(_env_vars)
-    list(APPEND _env_vars "PYTHONPATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/python/:${CMAKE_BINARY_DIR}/lib")
+    list(APPEND _env_vars "PYTHONPATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/python/:${CMAKE_BINARY_DIR}/lib:$ENV{PYTHONPATH}")
     list(APPEND _env_vars "LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}:$ENV{LD_LIBRARY_PATH}")
     set_tests_properties(${test}.py PROPERTIES
       ENVIRONMENT "${_env_vars}")

python/src/sdf/_ignition_sdformat_pybind11.cc

@@ -16,10 +16,18 @@
 
 #include <pybind11/pybind11.h>
 
+#include "pyBox.hh"
 #include "pyError.hh"
+#include "pyMesh.hh"
+#include "pyParserConfig.hh"
+#include "pySphere.hh"
 
 PYBIND11_MODULE(sdformat, m) {
   m.doc() = "sdformat Python Library.";
 
+  sdf::python::defineBox(m);
   sdf::python::defineError(m);
+  sdf::python::defineMesh(m);
+  sdf::python::defineParserConfig(m);
+  sdf::python::defineSphere(m);
 }

python/src/sdf/pyBox.cc

@@ -0,0 +1,54 @@
+/*
+ * 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 "pyBox.hh"
+
+#include <pybind11/pybind11.h>
+
+#include "sdf/Box.hh"
+
+using namespace pybind11::literals;
+
+namespace sdf
+{
+// Inline bracket to help doxygen filtering.
+inline namespace SDF_VERSION_NAMESPACE {
+namespace python
+{
+/////////////////////////////////////////////////
+void defineBox(pybind11::object module)
+{
+  pybind11::class_<sdf::Box>(module, "Box")
+    .def(pybind11::init<>())
+    .def(pybind11::init<sdf::Box>())
+    .def("size", &sdf::Box::Size,
+         "Get the box size in meters.")
+    .def("set_size", &sdf::Box::SetSize,
+         "Set the box size in meters.")
+    .def(
+        "shape",
+        pybind11::overload_cast<>(&sdf::Box::Shape, pybind11::const_),
+        pybind11::return_value_policy::reference,
+        "Get a mutable Ignition Math representation of this Box.")
+    .def("__copy__", [](const sdf::Box &self) {
+      return sdf::Box(self);
+    })
+    .def("__deepcopy__", [](const sdf::Box &self, pybind11::dict) {
+      return sdf::Box(self);
+    }, "memo"_a);
+}
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf

python/src/sdf/pyBox.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_BOX_HH_
+#define SDFORMAT_PYTHON_BOX_HH_
+
+#include <pybind11/pybind11.h>
+
+#include "sdf/Box.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::Box
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void defineBox(pybind11::object module);
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf
+
+#endif  // SDFORMAT_PYTHON_BOX_HH_

python/src/sdf/pyError.cc

@@ -24,6 +24,8 @@
 
 #include "sdf/Error.hh"
 
+using namespace pybind11::literals;
+
 namespace sdf
 {
 // Inline bracket to help doxygen filtering.
@@ -77,9 +79,16 @@ void defineError(pybind11::object module)
         {
           return self == true;
         },
-        "Sets the XML path that is associated with this error.")
+        "True if this Error's Code() != NONE. In otherwords, this is "
+        "true when there is an error, or false otherwise.")
     .def("__str__", toString)
-    .def("__repr__", toString);
+    .def("__repr__", toString)
+    .def("__copy__", [](const sdf::Error &self) {
+      return sdf::Error(self);
+    })
+    .def("__deepcopy__", [](const sdf::Error &self, pybind11::dict) {
+      return sdf::Error(self);
+    }, "memo"_a);
 
   pybind11::enum_<sdf::ErrorCode>(errorModule, "ErrorCode")
     .value("NONE", sdf::ErrorCode::NONE)

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_