merged from ign-math6

Signed-off-by: Louise Poubel <[email protected]>

src/python/CMakeLists.txt

@@ -94,7 +94,6 @@ if (PYTHONLIBS_FOUND)
       Frustum_TEST
       GaussMarkovProcess_TEST
       Inertial_TEST
-      Kmeans_TEST
       MassMatrix3_TEST
       Matrix4_TEST
       OrientedBox_TEST
@@ -106,7 +105,6 @@ if (PYTHONLIBS_FOUND)
       Sphere_TEST
       SphericalCoordinates_TEST
       Temperature_TEST
-      Triangle3_TEST
       Vector3Stats_TEST
     )
 

src/python_pybind11/CMakeLists.txt

@@ -17,6 +17,7 @@ if (${pybind11_FOUND})
     src/Angle.cc
     src/Color.cc
     src/Helpers.cc
+    src/Kmeans.cc
     src/Material.cc
     src/Rand.cc
     src/RollingMean.cc
@@ -79,6 +80,7 @@ if (${pybind11_FOUND})
       Color_TEST
       Filter_TEST
       Helpers_TEST
+      Kmeans_TEST
       Line2_TEST
       Line3_TEST
       Material_TEST
@@ -92,6 +94,7 @@ if (${pybind11_FOUND})
       Spline_TEST
       StopWatch_TEST
       Triangle_TEST
+      Triangle3_TEST
       Vector2_TEST
       Vector3_TEST
       Vector4_TEST

src/python_pybind11/src/Kmeans.cc

@@ -0,0 +1,60 @@
+/*
+ * 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.
+ *
+*/
+#include <string>
+#include <vector>
+
+#include "Kmeans.hh"
+#include <ignition/math/Kmeans.hh>
+#include <pybind11/stl.h>
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathKmeans(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::Kmeans;
+  std::string pyclass_name = typestr;
+  py::class_<Class>(m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+  .def(py::init<const std::vector<ignition::math::Vector3d>&>())
+  .def("observations",
+       py::overload_cast<const std::vector<ignition::math::Vector3d>&>
+        (&Class::Observations),
+        "Set the observations to cluster.")
+  .def("observations",
+       py::overload_cast<>(&Class::Observations, py::const_),
+       "Get the observations to cluster.")
+  .def("append_observations",
+       &Class::AppendObservations,
+       "Add observations to the cluster.")
+  .def("cluster",
+       [](Class &self, int k) {
+         std::vector<ignition::math::Vector3<double>> centroids;
+         std::vector<unsigned int> labels;
+         bool result = self.Cluster(k, centroids, labels);
+         return std::make_tuple(result, centroids, labels);
+       },
+       "Executes the k-means algorithm.");
+}
+}  // namespace python
+}  // namespace math
+}  // namespace ignition

src/python_pybind11/src/Kmeans.hh

@@ -0,0 +1,42 @@
+/*
+ * 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.
+ *
+*/
+
+#ifndef IGNITION_MATH_PYTHON__KMEANS_HH_
+#define IGNITION_MATH_PYTHON__KMEANS_HH_
+
+#include <pybind11/pybind11.h>
+#include <string>
+
+namespace py = pybind11;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::Kmeans
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathKmeans(py::module &m, const std::string &typestr);
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__KMEANS_HH_

src/python_pybind11/src/Triangle3.hh

@@ -0,0 +1,106 @@
+/*
+ * 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.
+ *
+*/
+
+#ifndef IGNITION_MATH_PYTHON__TRIANGLE3_HH_
+#define IGNITION_MATH_PYTHON__TRIANGLE3_HH_
+
+#include <string>
+
+#include <pybind11/pybind11.h>
+#include <pybind11/operators.h>
+
+#include <ignition/math/Triangle3.hh>
+
+namespace py = pybind11;
+using namespace pybind11::literals;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::Triangle3
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+template<typename T>
+void defineMathTriangle3(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::Triangle3<T>;
+  py::class_<Class>(m,
+                    typestr.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+    .def(py::init<>())
+    .def(py::init<const math::Vector3<T> &,
+                  const math::Vector3<T> &,
+                  const math::Vector3<T> &>())
+    .def(py::init<const Class>())
+    .def("set",
+         py::overload_cast<const unsigned int, const math::Vector3<T> &>
+            (&Class::Set),
+         "Set one vertex of the triangle.")
+    .def("set",
+         py::overload_cast<const math::Vector3<T> &,
+                           const math::Vector3<T> &,
+                           const math::Vector3<T> &>
+           (&Class::Set),
+         "Set all vertices of the triangle.")
+    .def("valid",
+         &Class::Valid,
+         "Get whether this triangle is valid, based on triangle "
+         "inequality: the sum of the lengths of any two sides must be greater "
+         "than the length of the remaining side.")
+    .def("side",
+         &Class::Side,
+         "Get a line segment for one side of the triangle.")
+    .def("contains",
+         py::overload_cast<const Line3<T>&>(&Class::Contains, py::const_),
+         "Check if this triangle completely contains the given line "
+         "segment.")
+    .def("contains",
+         py::overload_cast<const Vector3<T>&>(&Class::Contains, py::const_),
+         "Get whether this triangle contains the given point")
+    .def("intersects",
+         &Class::Intersects,
+         "Get whether the given line intersects this triangle.")
+    .def("perimeter",
+         &Class::Perimeter,
+         "Get the length of the triangle's perimeter.")
+    .def("area", &Class::Area, "Get the area of this triangle.")
+    .def("normal", &Class::Normal, "Get the triangle's normal vector.")
+    .def("__copy__", [](const Class &self) {
+      return Class(self);
+    })
+    .def("__deepcopy__", [](const Class &self, py::dict) {
+      return Class(self);
+    }, "memo"_a)
+    .def("__getitem__",
+         (&Class::operator[]))
+    .def("__getitem__",
+         py::overload_cast<const std::size_t>(&Class::operator[], py::const_))
+    .def("__setitem__",
+         [](Class* vec, unsigned index, T val) { (*vec)[index] = val; });
+}
+
+}  // namespace python
+}  // namespace gazebo
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__TRIANGLE3_HH_

src/python_pybind11/src/_ignition_math_pybind11.cc

@@ -18,6 +18,7 @@
 #include "Color.hh"
 #include "Filter.hh"
 #include "Helpers.hh"
+#include "Kmeans.hh"
 #include "Line2.hh"
 #include "Line3.hh"
 #include "Material.hh"
@@ -31,6 +32,7 @@
 #include "Spline.hh"
 #include "StopWatch.hh"
 #include "Triangle.hh"
+#include "Triangle3.hh"
 #include "Vector2.hh"
 #include "Vector3.hh"
 #include "Vector4.hh"
@@ -47,6 +49,8 @@ PYBIND11_MODULE(math, m)
 
   ignition::math::python::defineMathHelpers(m);
 
+  ignition::math::python::defineMathKmeans(m, "Kmeans");
+
   ignition::math::python::defineMathMaterial(m, "Material");
 
   ignition::math::python::defineMathMovingWindowFilter<int>(
@@ -94,6 +98,10 @@ PYBIND11_MODULE(math, m)
   ignition::math::python::defineMathTriangle<double>(m, "Triangled");
   ignition::math::python::defineMathTriangle<float>(m, "Trianglef");
 
+  ignition::math::python::defineMathTriangle3<int>(m, "Triangle3i");
+  ignition::math::python::defineMathTriangle3<double>(m, "Triangle3d");
+  ignition::math::python::defineMathTriangle3<float>(m, "Triangle3f");
+
   ignition::math::python::defineMathQuaternion<int>(m, "Quaternioni");
   ignition::math::python::defineMathQuaternion<double>(m, "Quaterniond");
   ignition::math::python::defineMathQuaternion<float>(m, "Quaternionf");

src/python/Kmeans_TEST.py → src/python_pybind11/test/Kmeans_TEST.py

@@ -15,7 +15,6 @@
 import unittest
 from ignition.math import Kmeans
 from ignition.math import Vector3d
-from ignition.math import vector_vector3d
 
 
 class TestKmeans(unittest.TestCase):
@@ -128,13 +127,13 @@ def test_kmeans_append(self):
 
         kmeans.append_observations(obs2)
 
-        obs_copy = vector_vector3d(kmeans.observations())
+        obs_copy = kmeans.observations()
 
-        for i in range(obs_copy.size()):
+        for i in range(len(obs_copy)):
             self.assertEqual(obs_total[i], obs_copy[i])
 
         # Append an empty vector.
-        emptyVector = vector_vector3d()
+        emptyVector = []
         self.assertFalse(kmeans.append_observations(emptyVector))