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Basic setup for Python interface using SWIG (#216)
* Basic setup for Python interface using SWIG * Changes in cmake to run python tests with colcon * Adding Vector3 and Vector4 python interface tests * Changing from a single ign_math.i file to a ruby.i and a python.i Signed-off-by: Marcos Wagner <[email protected]> * Fixes install path and name math instead of pymath. * Adds py examples * Fixes ruby_TEST set up. * Support both Swig3 and Swig4 versions. Signed-off-by: Franco Cipollone <[email protected]> * Adds line in the src/CMakeLists.txt file to solve CI error. Adds python test files to some of the classes that had an associated .i file. Signed-off-by: LolaSegura <[email protected]> * Remove Marya from CODEOWNERS (#217) Signed-off-by: Michael Carroll <[email protected]> * Use FAKE_INSTALL_PREFIX for PYTHONPATH in tests and move the variable definition to the root CMakeLists.txt * Set LD_LIBRARY_PATH for python tests Point to fake install lib folder. Signed-off-by: Steve Peters <[email protected]> Co-authored-by: Franco Cipollone <[email protected]> Co-authored-by: LolaSegura <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Steve Peters <[email protected]>
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| # 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. | ||
|
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| # This example will only work if the Python interface library was compiled and | ||
| # installed. | ||
| # | ||
| # Modify the PYTHONPATH environment variable to include the ignition math | ||
| # library install path. For example, if you install to /user: | ||
| # | ||
| # $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH | ||
| # | ||
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| import ignition.math | ||
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| print("PI in degrees = {}\n".format(ignition.math.Angle.Pi.Degree())) | ||
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| a1 = ignition.math.Angle(1.5707) | ||
| a2 = ignition.math.Angle(0.7854) | ||
| print("a1 = {} radians, {} degrees\n".format(a1.Radian(), a1.Degree())) | ||
| print("a2 = {} radians, {} degrees\n".format(a2.Radian(), a2.Degree())) | ||
| print("a1 * a2 = {} radians, {} degrees\n".format((a1 * a2).Radian(), | ||
| (a1 * a2).Degree())) | ||
| print("a1 + a2 = {} radians, {} degrees\n".format((a1 + a2).Radian(), | ||
| (a1 + a2).Degree())) | ||
| print("a1 - a2 = {} radians, {} degrees\n".format((a1 - a2).Radian(), | ||
| (a1 - a2).Degree())) | ||
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| a3 = ignition.math.Angle(15.707) | ||
| print("a3 = {} radians, {} degrees\n".format(a3.Radian(), a3.Degree())) | ||
| a3.Normalize() | ||
| print("a3.Normalize = {} radians, {} degrees\n".format(a3.Radian(), | ||
| a3.Degree())) |
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| # 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. | ||
|
|
||
| # This example will only work if the Python interface library was compiled and | ||
| # installed. | ||
| # | ||
| # Modify the PYTHONPATH environment variable to include the ignition math | ||
| # library install path. For example, if you install to /user: | ||
| # | ||
| # $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH | ||
| # | ||
| import ignition.math | ||
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| va = ignition.math.Vector2d(1, 2) | ||
| vb = ignition.math.Vector2d(3, 4) | ||
| vc = ignition.math.Vector2d(vb) | ||
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| print("va = {} {}\n".format(va.X(), va.Y())) | ||
| print("vb = {} {}\n".format(vb.X(), vb.Y())) | ||
| print("vc = {} {}\n".format(vc.X(), vc.Y())) | ||
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| vb += va | ||
| print("vb += va: {} {}\n".format(vb.X(), vb.Y())) | ||
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| vb.Normalize() | ||
| print("vb.Normalize = {} {}\n".format(vb.X(), vb.Y())) | ||
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| print("vb.Distance(va) = {}\n".format(vb.Distance(va))) |
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| # 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. | ||
|
|
||
| # This example will only work if the Python interface library was compiled and | ||
| # installed. | ||
| # | ||
| # Modify the PYTHONPATH environment variable to include the ignition math | ||
| # library install path. For example, if you install to /user: | ||
| # | ||
| # $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH | ||
| # | ||
| import ignition.math | ||
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| v1 = ignition.math.Vector3d(0, 0, 3) | ||
| print("v =: {} {} {}\n".format(v1.X(), v1.Y(), v1.Z())) | ||
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| v2 = ignition.math.Vector3d(4, 0, 0) | ||
| print("v2 = {} {} {}\n".format(v2.X(), v2.Y(), v2.Z())) | ||
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| v3 = v1 + v2 | ||
| print("v1 + v2 = {} {} {}\n".format(v3.X(), v3.Y(), v3.Z())) | ||
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| print("v1.Distance(v2) = {}\n".format(v1.Distance(v2))) |
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| # Copyright (C) 2021 Open Source Robotics Foundation | ||
|
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| # 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. | ||
|
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| import unittest | ||
| import math | ||
| from ignition.math import Angle | ||
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| class TestAngle(unittest.TestCase): | ||
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| def test_angle(self): | ||
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| angle1 = Angle() | ||
| self.assertEqual(0.0, angle1.Radian()) | ||
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| angle1.SetDegree(90.0) | ||
| self.assertTrue(angle1 == Angle.HalfPi) | ||
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| angle1.SetDegree(180.0) | ||
| self.assertTrue(angle1 == Angle.Pi) | ||
| self.assertFalse(angle1 == Angle.Pi + Angle(0.1)) | ||
| self.assertTrue(angle1 == Angle.Pi + Angle(0.0001)) | ||
| self.assertTrue(angle1 == Angle.Pi - Angle(0.0001)) | ||
| self.assertTrue(Angle(0) == Angle(0)) | ||
| self.assertTrue(Angle(0) == Angle(0.001)) | ||
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| angle1 = Angle(0.1) - Angle(0.3) | ||
| self.assertAlmostEqual(angle1.Radian(), -0.2) | ||
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| angle = Angle(0.5) | ||
| self.assertEqual(0.5, angle.Radian()) | ||
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| angle.SetRadian(math.pi/2) | ||
| self.assertAlmostEqual(math.degrees(math.pi/2), angle.Degree()) | ||
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| angle.SetRadian(math.pi) | ||
| self.assertAlmostEqual(math.degrees(math.pi), angle.Degree()) | ||
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| def test_normalized_angles(self): | ||
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| angle = Angle(Angle.Pi) | ||
| normalized = angle.Normalized() | ||
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| angle.Normalized() | ||
| self.assertEqual(math.degrees(math.pi), angle.Degree()) | ||
| self.assertEqual(normalized, angle) | ||
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| def test_angle_operations(self): | ||
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| angle = Angle(0.1) + Angle(0.2) | ||
| self.assertAlmostEqual(0.3, angle.Radian()) | ||
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| angle = Angle(0.1) * Angle(0.2) | ||
| self.assertAlmostEqual(0.02, angle.Radian()) | ||
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| angle = Angle(0.1) / Angle(0.2) | ||
| self.assertAlmostEqual(0.5, angle.Radian()) | ||
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| angle -= Angle(0.1) | ||
| self.assertAlmostEqual(0.4, angle.Radian()) | ||
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| angle += Angle(0.2) | ||
| self.assertAlmostEqual(0.6, angle.Radian()) | ||
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| angle *= Angle(0.5) | ||
| self.assertAlmostEqual(0.3, angle.Radian()) | ||
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| angle /= Angle(0.1) | ||
| self.assertAlmostEqual(3.0, angle.Radian()) | ||
| self.assertTrue(angle == Angle(3)) | ||
| self.assertTrue(angle != Angle(2)) | ||
| self.assertTrue(angle < Angle(4)) | ||
| self.assertTrue(angle > Angle(2)) | ||
| self.assertTrue(angle >= Angle(3)) | ||
| self.assertTrue(angle <= Angle(3)) | ||
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| if __name__ == '__main__': | ||
| unittest.main() |
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