Added Magnetometer Python interface

python/CMakeLists.txt

@@ -56,6 +56,7 @@ pybind11_add_module(sdformat SHARED
   src/sdf/pyJointAxis.cc
   src/sdf/pyLight.cc
   src/sdf/pyLink.cc
+  src/sdf/pyMagnetometer.cc
   src/sdf/pyMaterial.cc
   src/sdf/pyMesh.cc
   src/sdf/pyModel.cc
@@ -107,6 +108,7 @@ if (BUILD_TESTING)
     pyJointAxis_TEST
     pyLight_TEST
     pyLink_TEST
+    pyMagnetometer_TEST
     pyMaterial_TEST
     pyMesh_TEST
     pyModel_TEST

python/src/sdf/_ignition_sdformat_pybind11.cc

@@ -34,6 +34,7 @@
 #include "pyJointAxis.hh"
 #include "pyLight.hh"
 #include "pyLink.hh"
+#include "pyMagnetometer.hh"
 #include "pyMaterial.hh"
 #include "pyMesh.hh"
 #include "pyModel.hh"
@@ -71,6 +72,7 @@ PYBIND11_MODULE(sdformat, m) {
   sdf::python::defineJointAxis(m);
   sdf::python::defineLight(m);
   sdf::python::defineLink(m);
+  sdf::python::defineMagnetometer(m);
   sdf::python::defineMaterial(m);
   sdf::python::defineMesh(m);
   sdf::python::defineModel(m);

python/src/sdf/pyMagnetometer.cc

@@ -0,0 +1,62 @@
+/*
+ * 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 "pyMagnetometer.hh"
+
+#include <pybind11/operators.h>
+#include <pybind11/pybind11.h>
+
+#include "sdf/Magnetometer.hh"
+
+using namespace pybind11::literals;
+
+namespace sdf
+{
+// Inline bracket to help doxygen filtering.
+inline namespace SDF_VERSION_NAMESPACE {
+namespace python
+{
+/////////////////////////////////////////////////
+void defineMagnetometer(pybind11::object module)
+{
+  pybind11::class_<sdf::Magnetometer> geometryModule(module, "Magnetometer");
+  geometryModule
+    .def(pybind11::init<>())
+    .def(pybind11::init<sdf::Magnetometer>())
+    .def(pybind11::self == pybind11::self)
+    .def(pybind11::self != pybind11::self)
+    .def("x_noise", &sdf::Magnetometer::XNoise,
+         "Get the noise values related to the body-frame x axis.")
+    .def("set_x_noise", &sdf::Magnetometer::SetXNoise,
+         "Set the noise values related to the body-frame x axis.")
+    .def("y_noise", &sdf::Magnetometer::YNoise,
+         "Get the noise values related to the body-frame y axis.")
+    .def("set_y_noise", &sdf::Magnetometer::SetYNoise,
+        "Set the noise values related to the body-frame y axis.")
+    .def("z_noise", &sdf::Magnetometer::ZNoise,
+         "Get the noise values related to the body-frame z axis.")
+    .def("set_z_noise", &sdf::Magnetometer::SetZNoise,
+         "Set the noise values related to the body-frame z axis.")
+    .def("__copy__", [](const sdf::Magnetometer &self) {
+      return sdf::Magnetometer(self);
+    })
+    .def("__deepcopy__", [](const sdf::Magnetometer &self, pybind11::dict) {
+      return sdf::Magnetometer(self);
+    }, "memo"_a);
+}
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf

python/src/sdf/pyMagnetometer.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_MAGNETOMETER_HH_
+#define SDFORMAT_PYTHON_MAGNETOMETER_HH_
+
+#include <pybind11/pybind11.h>
+
+#include "sdf/Magnetometer.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::Magnetometer
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void defineMagnetometer(pybind11::object module);
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf
+
+#endif  // SDFORMAT_PYTHON_MAGNETOMETER_HH_

python/test/pyMagnetometer_TEST.py

@@ -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.
+
+import copy
+from ignition.math import Pose3d
+from sdformat import Magnetometer, Noise
+import unittest
+
+
+class MagnetometerTEST(unittest.TestCase):
+
+  def test_default_construction(self):
+    mag = Magnetometer()
+    defaultNoise = Noise()
+    self.assertEqual(defaultNoise, mag.x_noise())
+    self.assertEqual(defaultNoise, mag.y_noise())
+    self.assertEqual(defaultNoise, mag.z_noise())
+
+  def test_set(self):
+    mag = Magnetometer()
+    defaultNoise = Noise()
+    noise = Noise()
+    self.assertEqual(defaultNoise, mag.x_noise())
+    self.assertEqual(defaultNoise, mag.y_noise())
+    self.assertEqual(defaultNoise, mag.z_noise())
+
+    noise.set_type(Noise.NoiseType.GAUSSIAN)
+    noise.set_mean(1.2)
+    noise.set_std_dev(2.3)
+    noise.set_bias_mean(4.5)
+    noise.set_bias_std_dev(6.7)
+    noise.set_precision(8.9)
+
+    mag.set_x_noise(noise)
+    self.assertEqual(noise, mag.x_noise())
+    self.assertEqual(defaultNoise, mag.y_noise())
+    self.assertEqual(defaultNoise, mag.z_noise())
+
+    mag.set_y_noise(noise)
+    self.assertEqual(noise, mag.x_noise())
+    self.assertEqual(noise, mag.y_noise())
+    self.assertEqual(defaultNoise, mag.z_noise())
+
+    mag.set_z_noise(noise)
+    self.assertEqual(noise, mag.x_noise())
+    self.assertEqual(noise, mag.y_noise())
+    self.assertEqual(noise, mag.z_noise())
+
+    # Copy Constructor
+    mag2 = Magnetometer(mag)
+    self.assertEqual(mag, mag2)
+
+    # Copy operator
+    mag3 = mag
+    self.assertEqual(mag, mag3)
+
+    mag4 = Magnetometer()
+    self.assertNotEqual(mag, mag4)
+
+
+if __name__ == '__main__':
+    unittest.main()