Merge branch 'ign-math6' into max-min-function

.github/ci-bionic/after_make.sh → .github/ci/after_make.sh

@@ -2,6 +2,8 @@
 
 set -x
 
+BUILD_DIR=`pwd`
+
 # Install
 make install
 
@@ -12,3 +14,5 @@ cd build
 cmake ..
 make
 ./graph_example
+
+cd $BUILD_DIR

.github/ci/packages.apt

@@ -0,0 +1,4 @@
+libeigen3-dev
+libignition-cmake2-dev
+ruby-dev
+swig

.github/workflows/ci.yml

@@ -0,0 +1,27 @@
+name: Ubuntu CI
+
+on: [push]
+
+jobs:
+  bionic-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Bionic CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@master
+        with:
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}
+  focal-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Focal CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@focal
+        with:
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}

README.md

@@ -90,6 +90,20 @@ The optional Eigen component of Ignition Math requires:
     sudo apt-get install libeigen3-dev
     ```
 
+The optional Ruby tests of Ignition Math require:
+
+ * [Ruby](https://www.ruby-lang.org/). Refer to the [Ruby Documentation](https://www.ruby-lang.org/downloads/) for installation instructions. On Ubuntu systems `apt-get` can be used to install Ubuntu Package `ruby-dev`:
+
+    ```
+    sudo apt-get install ruby-dev
+    ```
+
+  * [Swig](http://www.swig.org/). Refer to the [Swig Documentation](http://www.swig.org/download.html) for installation instructions. On Ubuntu systems `apt-get` can be used to install Swig:
+
+    ```
+    sudo apt-get install swig
+    ```
+
 ### Building from source
 
 1. Clone the repository
@@ -162,6 +176,28 @@ Follow these steps to run tests and static code analysis in your clone of this r
     make codecheck
     ```
 
+## Ruby Tests
+
+### Usage
+
+The C++ classes are available in Ruby code by interface files (`.i`) used by swig to build a C++ extension module.
+
+The interfaces and Ruby test codes are in the `src` folder. To use a C++ class in Ruby you need to:
+
+1. Create an interface file describing the class as in Swig and Ruby reference at [The Ruby-to-C/C++ Mapping](http://www.swig.org/Doc1.3/Ruby.html#Ruby_nn11)
+
+2. Include the interface file in `/src/ing_math.i`
+
+3. Create the Ruby file and import the class as in Swig and Ruby reference at [C++ Classes](http://www.swig.org/Doc1.3/Ruby.html#Ruby_nn18)
+
+### Tests
+
+`make test` already runs all tests, including the ones made in Ruby, but you can run a Ruby test individually using
+
+```
+ctest -R Ruby_TEST.rb
+```
+
 # Folder Structure
 
 Refer to the following table for information about important directories and files in this repository.

include/ignition/math/Filter.hh

@@ -78,7 +78,7 @@ namespace ignition
       }
 
       // Documentation Inherited.
-      public: virtual void Fc(double _fc, double _fs)
+      public: virtual void Fc(double _fc, double _fs) override
       {
         b1 = exp(-2.0 * IGN_PI * _fc / _fs);
         a0 = 1.0 - b1;
@@ -168,7 +168,7 @@ namespace ignition
       }
 
       // Documentation Inherited.
-      public: void Fc(double _fc, double _fs)
+      public: void Fc(double _fc, double _fs) override
       {
         this->Fc(_fc, _fs, 0.5);
       }
@@ -191,7 +191,7 @@ namespace ignition
 
       /// \brief Set the current filter's output.
       /// \param[in] _val New filter's output.
-      public: virtual void Set(const T &_val)
+      public: virtual void Set(const T &_val) override
       {
         this->y0 = this->y1 = this->y2 = this->x1 = this->x2 = _val;
       }

include/ignition/math/MassMatrix3.hh

@@ -984,7 +984,6 @@ namespace ignition
                    + std::pow(cos(phi11c.Radian()) - cos(phi12c.Radian()), 2);
             if (errc < err)
             {
-              err = errc;
               phi1 = phi11c.Radian();
               signsPhi23.Set(-1, -1);
             }

include/ignition/math/SignalStats.hh

@@ -85,14 +85,14 @@ namespace ignition
     class IGNITION_MATH_VISIBLE SignalMaximum : public SignalStatistic
     {
       // Documentation inherited.
-      public: virtual double Value() const;
+      public: virtual double Value() const override;
 
       /// \brief Get a short version of the name of this statistical measure.
       /// \return "max"
-      public: virtual std::string ShortName() const;
+      public: virtual std::string ShortName() const override;
 
       // Documentation inherited.
-      public: virtual void InsertData(const double _data);
+      public: virtual void InsertData(const double _data) override;
     };
     /// \}
 
@@ -101,14 +101,14 @@ namespace ignition
     class IGNITION_MATH_VISIBLE SignalMean : public SignalStatistic
     {
       // Documentation inherited.
-      public: virtual double Value() const;
+      public: virtual double Value() const override;
 
       /// \brief Get a short version of the name of this statistical measure.
       /// \return "mean"
-      public: virtual std::string ShortName() const;
+      public: virtual std::string ShortName() const override;
 
       // Documentation inherited.
-      public: virtual void InsertData(const double _data);
+      public: virtual void InsertData(const double _data) override;
     };
     /// \}
 
@@ -117,14 +117,14 @@ namespace ignition
     class IGNITION_MATH_VISIBLE SignalMinimum : public SignalStatistic
     {
       // Documentation inherited.
-      public: virtual double Value() const;
+      public: virtual double Value() const override;
 
       /// \brief Get a short version of the name of this statistical measure.
       /// \return "min"
-      public: virtual std::string ShortName() const;
+      public: virtual std::string ShortName() const override;
 
       // Documentation inherited.
-      public: virtual void InsertData(const double _data);
+      public: virtual void InsertData(const double _data) override;
     };
     /// \}
 
@@ -134,14 +134,14 @@ namespace ignition
     class IGNITION_MATH_VISIBLE SignalRootMeanSquare : public SignalStatistic
     {
       // Documentation inherited.
-      public: virtual double Value() const;
+      public: virtual double Value() const override;
 
       /// \brief Get a short version of the name of this statistical measure.
       /// \return "rms"
-      public: virtual std::string ShortName() const;
+      public: virtual std::string ShortName() const override;
 
       // Documentation inherited.
-      public: virtual void InsertData(const double _data);
+      public: virtual void InsertData(const double _data) override;
     };
     /// \}
 
@@ -153,14 +153,14 @@ namespace ignition
     class IGNITION_MATH_VISIBLE SignalMaxAbsoluteValue : public SignalStatistic
     {
       // Documentation inherited.
-      public: virtual double Value() const;
+      public: virtual double Value() const override;
 
       /// \brief Get a short version of the name of this statistical measure.
       /// \return "maxAbs"
-      public: virtual std::string ShortName() const;
+      public: virtual std::string ShortName() const override;
 
       // Documentation inherited.
-      public: virtual void InsertData(const double _data);
+      public: virtual void InsertData(const double _data) override;
     };
     /// \}
 
@@ -170,14 +170,14 @@ namespace ignition
     class IGNITION_MATH_VISIBLE SignalVariance : public SignalStatistic
     {
       // Documentation inherited.
-      public: virtual double Value() const;
+      public: virtual double Value() const override;
 
       /// \brief Get a short version of the name of this statistical measure.
       /// \return "var"
-      public: virtual std::string ShortName() const;
+      public: virtual std::string ShortName() const override;
 
       // Documentation inherited.
-      public: virtual void InsertData(const double _data);
+      public: virtual void InsertData(const double _data) override;
     };
     /// \}
 

src/Frustum_TEST.cc

@@ -193,7 +193,7 @@ TEST(FrustumTest, PyramidYAxis)
       // Field of view
       Angle(IGN_DTOR(45)),
       // Aspect ratio
-      320.0/320.0,
+      1.0,
       // Pose
       Pose3d(0, 0, 0, 0, 0, IGN_PI*0.5));
 
@@ -223,7 +223,7 @@ TEST(FrustumTest, PyramidZAxis)
       // Field of view
       Angle(IGN_DTOR(45)),
       // Aspect ratio
-      320.0/320.0,
+      1.0,
       // Pose
       Pose3d(0, 0, 0, 0, IGN_PI*0.5, 0));
 
@@ -254,7 +254,7 @@ TEST(FrustumTest, NearFar)
       // Field of view
       Angle(IGN_DTOR(45)),
       // Aspect ratio
-      320.0/320.0,
+      1.0,
       // Pose
       Pose3d(0, 0, 0, 0, IGN_PI*0.5, 0));
 
@@ -279,7 +279,7 @@ TEST(FrustumTest, FOV)
       // Field of view
       Angle(IGN_DTOR(45)),
       // Aspect ratio
-      320.0/320.0,
+      1.0,
       // Pose
       Pose3d(0, 0, 0, 0, IGN_PI*0.5, 0));
 
@@ -301,11 +301,11 @@ TEST(FrustumTest, AspectRatio)
       // Field of view
       Angle(IGN_DTOR(45)),
       // Aspect ratio
-      320.0/320.0,
+      1.0,
       // Pose
       Pose3d(0, 0, 0, 0, IGN_PI*0.5, 0));
 
-  EXPECT_DOUBLE_EQ(frustum.AspectRatio(), 320.0/320.0);
+  EXPECT_DOUBLE_EQ(frustum.AspectRatio(), 1);
 
   frustum.SetAspectRatio(1.3434);
 
@@ -323,7 +323,7 @@ TEST(FrustumTest, Pose)
       // Field of view
       Angle(IGN_DTOR(45)),
       // Aspect ratio
-      320.0/320.0,
+      1.0,
       // Pose
       Pose3d(0, 0, 0, 0, IGN_PI*0.5, 0));
 

src/Helpers_TEST.cc

@@ -102,14 +102,14 @@ TEST(HelpersTest, FixNaN)
 {
   EXPECT_DOUBLE_EQ(math::fixnan(1.0 / 0.0), 0.0);
   EXPECT_DOUBLE_EQ(math::fixnan(-1.0 / 0.0), 0.0);
-  EXPECT_DOUBLE_EQ(math::fixnan(0.0 / 0.0), 0.0);
+  EXPECT_DOUBLE_EQ(math::fixnan(1.0 / 0.0), 0.0);
 
   EXPECT_DOUBLE_EQ(math::fixnan(42.0), 42.0);
   EXPECT_DOUBLE_EQ(math::fixnan(-42.0), -42.0);
 
   EXPECT_FLOAT_EQ(math::fixnan(1.0f / 0.0f), 0.0f);
   EXPECT_FLOAT_EQ(math::fixnan(-1.0f / 0.0f), 0.0f);
-  EXPECT_FLOAT_EQ(math::fixnan(0.0f / 0.0f), 0.0f);
+  EXPECT_FLOAT_EQ(math::fixnan(1.0f / 0.0f), 0.0f);
 
   EXPECT_FLOAT_EQ(math::fixnan(42.0f), 42.0f);
   EXPECT_FLOAT_EQ(math::fixnan(-42.0f), -42.0f);

src/RotationSpline_TEST.cc

@@ -94,7 +94,6 @@ TEST(RotationSplineTest, RecalcTangents)
   EXPECT_EQ(s.Interpolate(0, 0.5),
       math::Quaterniond(0.987225, 0.077057, 0.11624, 0.077057));
 
-  math::Quaterniond q = s.Interpolate(1, 0.5);
   EXPECT_EQ(s.Interpolate(1, 0.5),
       math::Quaterniond(0.987225, 0.077057, 0.11624, 0.077057));
 }