Merge remote-tracking branch 'origin/gz-math7' into ahcorde/7_to_main…

…/270723

CMakeLists.txt

@@ -10,6 +10,7 @@ project(gz-math8 VERSION 8.0.0)
 #============================================================================
 # If you get an error at this line, you need to install gz-cmake
 find_package(gz-cmake3 REQUIRED)
+set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
 
 #============================================================================
 # Configure the project
@@ -144,3 +145,13 @@ configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials
 gz_create_docs(
   API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
   TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md")
+
+#============================================================================
+# Build examples
+#============================================================================
+if (BUILD_TESTING)
+  gz_build_examples(
+    SOURCE_DIR ${PROJECT_SOURCE_DIR}/examples
+    BINARY_DIR ${PROJECT_BINARY_DIR}/examples
+  )
+endif()

Changelog.md

@@ -4,22 +4,54 @@
 
 ## Gazebo Math 7.x
 
-### Gazebo Math 7.1.0
+### Gazebo Math 7.2.0 (2023-06-14)
+
+1. Add tests to increase test coverage
+    * [Pull request #533](https://github.com/gazebosim/gz-math/pull/533)
+
+1. Forward ports
+    * [Pull request #530](https://github.com/gazebosim/gz-math/pull/530)
+    * [Pull request #526](https://github.com/gazebosim/gz-math/pull/526)
+    * [Pull request #522](https://github.com/gazebosim/gz-math/pull/522)
+    * [Pull request #520](https://github.com/gazebosim/gz-math/pull/520)
+
+1. Disable pybind11 on windows by default
+    * [Pull request #529](https://github.com/gazebosim/gz-math/pull/529)
+
+1. Add option to skip pybind11 and SWIG
+    * [Pull request #480](https://github.com/gazebosim/gz-math/pull/480)
+
+1. Custom PID error rate
+    * [Pull request #525](https://github.com/gazebosim/gz-math/pull/525)
+
+1. Garden bazel support
+    * [Pull request #523](https://github.com/gazebosim/gz-math/pull/523)
+
+1. Rename COPYING to LICENSE
+    * [Pull request #521](https://github.com/gazebosim/gz-math/pull/521)
+
+1. Infrastructure
+    * [Pull request #519](https://github.com/gazebosim/gz-math/pull/519)
+
+1. Fix link of installation tutorial to point to 7.1 version
+    * [Pull request #518](https://github.com/gazebosim/gz-math/pull/518)
+
+### Gazebo Math 7.1.0 (2022-11-15)
 
 1. Adds bounds retrieval for TimeVarying grid class.
     * [Pull request #508](https://github.com/gazebosim/gz-math/pull/508)
 
-### Gazebo Math 7.0.2
+### Gazebo Math 7.0.2 (2022-09-26)
 
 1. Update to disable tests failing on arm64
     * [Pull request #512](https://github.com/gazebosim/gz-math/pull/512)
 
-### Gazebo Math 7.0.1
+### Gazebo Math 7.0.1 (2022-09-23)
 
 1. Disable tests failing on arm64
     * [Pull request #510](https://github.com/gazebosim/gz-math/pull/510)
 
-### Gazebo Math 7.0.0
+### Gazebo Math 7.0.0 (2022-09-22)
 
 1. Deprecated `Angle::Degree(double)` and `Angle::Radian(double)`. Use `Angle::SetDegree(double)` and `Angle::SetRadian(double)` instead.
     * [BitBucket pull request 326](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/326)

examples/color_example.cc

@@ -18,18 +18,17 @@
 #include <iostream>
 #include <gz/math/Color.hh>
 
-int main(int argc, char **argv) 
+int main(int /*argc*/, char **/*argv*/)
 {
 
 //! [Create a color]
-  gz::math::Color a = gz::math::Color(0.3, 0.4, 0.5);
+  gz::math::Color a = gz::math::Color(0.3f, 0.4f, 0.5f);
 //! [Create a color]
   // The channel order is R, G, B, A and the default alpha value of a should be 1.0
   std::cout << "The alpha value of a should be 1: " << a.A() << std::endl;
-
-
+
 //! [Set a new color value]
-  a.gz::math::Color::Set(0.6, 0.7, 0.8, 1.0);
+  a.gz::math::Color::Set(0.6f, 0.7f, 0.8f, 1.0f);
 //! [Set a new color value]
   std::cout << "The RGBA value of a: " << a << std::endl;
 
@@ -41,8 +40,8 @@ int main(int argc, char **argv)
 
 //! [Math operator]
   std::cout << "Check if a is Blue: " << (a == gz::math::Color::Blue) << std::endl;
-  std::cout << "The RGB value of a should be (0, 0, 1): " << a[0] << ", " 
-                                                          << a[1] << ", " 
+  std::cout << "The RGB value of a should be (0, 0, 1): " << a[0] << ", "
+                                                          << a[1] << ", "
                                                           << a[2] << std::endl;
 //! [Math operator]
 

include/gz/math/Box.hh

@@ -17,6 +17,7 @@
 #ifndef GZ_MATH_BOX_HH_
 #define GZ_MATH_BOX_HH_
 
+#include <optional>
 #include <gz/math/config.hh>
 #include <gz/math/MassMatrix3.hh>
 #include <gz/math/Material.hh>
@@ -189,6 +190,14 @@ namespace gz
       /// could be due to an invalid size (<=0) or density (<=0).
       public: bool MassMatrix(MassMatrix3<Precision> &_massMat) const;
 
+      /// \brief Get the mass matrix for this box. This function
+      /// is only meaningful if the box's size and material
+      /// have been set.
+      /// \return The computed mass matrix if parameters are valid
+      /// (radius > 0), (length > 0), and (density > 0). Otherwise
+      /// std::nullopt is returned.
+      public: std::optional< MassMatrix3<Precision> > MassMatrix() const;
+
       /// \brief Get intersection between a plane and the box's edges.
       /// Edges contained on the plane are ignored.
       /// \param[in] _plane The plane against which we are testing intersection.

include/gz/math/Cylinder.hh

@@ -17,6 +17,7 @@
 #ifndef GZ_MATH_CYLINDER_HH_
 #define GZ_MATH_CYLINDER_HH_
 
+#include <optional>
 #include "gz/math/MassMatrix3.hh"
 #include "gz/math/Material.hh"
 #include "gz/math/Quaternion.hh"
@@ -115,6 +116,14 @@ namespace gz
       /// (<=0).
       public: bool MassMatrix(MassMatrix3d &_massMat) const;
 
+      /// \brief Get the mass matrix for this cylinder. This function
+      /// is only meaningful if the cylinder's radius, length, and material
+      /// have been set. Optionally, set the rotational offset.
+      /// \return The computed mass matrix if parameters are valid
+      /// (radius > 0), (length > 0) and (density > 0). Otherwise
+      /// std::nullopt is returned.
+      public: std::optional< MassMatrix3<Precision> > MassMatrix() const;
+
       /// \brief Check if this cylinder is equal to the provided cylinder.
       /// Radius, length, and material properties will be checked.
       public: bool operator==(const Cylinder &_cylinder) const;

include/gz/math/Helpers.hh

@@ -353,7 +353,7 @@ namespace gz
       T sum = 0;
       for (unsigned int i = 0; i < _values.size(); ++i)
         sum += _values[i];
-      return sum / _values.size();
+      return sum / static_cast<T>(_values.size());
     }
 
     /// \brief Get the variance of a vector of values.
@@ -367,7 +367,7 @@ namespace gz
       T sum = 0;
       for (unsigned int i = 0; i < _values.size(); ++i)
         sum += (_values[i] - avg) * (_values[i] - avg);
-      return sum / _values.size();
+      return sum / static_cast<T>(_values.size());
     }
 
     /// \brief Get the maximum value of vector of values.

include/gz/math/Polynomial3.hh

@@ -229,7 +229,7 @@ namespace gz
           using std::abs;  // enable ADL
           const T magnitude = abs(this->coeffs[i]);
           const bool sign = this->coeffs[i] < T(0);
-          const int exponent = 3 - i;
+          const int exponent = 3 - static_cast<int>(i);
           if (magnitude >= epsilon)
           {
             if (streamStarted)

include/gz/math/Sphere.hh

@@ -17,6 +17,7 @@
 #ifndef GZ_MATH_SPHERE_HH_
 #define GZ_MATH_SPHERE_HH_
 
+#include <optional>
 #include "gz/math/MassMatrix3.hh"
 #include "gz/math/Material.hh"
 #include "gz/math/Quaternion.hh"
@@ -77,6 +78,13 @@ namespace gz
       /// could be due to an invalid radius (<=0) or density (<=0).
       public: bool MassMatrix(MassMatrix3d &_massMat) const;
 
+      /// \brief Get the mass matrix for this sphere. This function
+      /// is only meaningful if the sphere's radius and material have been set.
+      /// \return The computed mass matrix if parameters are valid
+      /// (radius > 0) and (density > 0). Otherwise
+      /// std::nullopt is returned.
+      public: std::optional< MassMatrix3<Precision> > MassMatrix() const;
+
       /// \brief Check if this sphere is equal to the provided sphere.
       /// Radius and material properties will be checked.
       public: bool operator==(const Sphere &_sphere) const;

include/gz/math/detail/Box.hh

@@ -19,6 +19,7 @@
 
 #include "gz/math/Triangle3.hh"
 
+#include <optional>
 #include <algorithm>
 #include <set>
 #include <utility>
@@ -310,6 +311,21 @@ bool Box<T>::MassMatrix(MassMatrix3<T> &_massMat) const
   return _massMat.SetFromBox(this->material, this->size);
 }
 
+/////////////////////////////////////////////////
+template<typename T>
+std::optional< MassMatrix3<T> > Box<T>::MassMatrix() const
+{
+  gz::math::MassMatrix3<T> _massMat;
+
+  if(!_massMat.SetFromBox(this->material, this->size))
+  {
+    return std::nullopt;
+  }
+  else
+  {
+    return std::make_optional(_massMat);
+  }
+}
 
 //////////////////////////////////////////////////
 template<typename T>

include/gz/math/detail/Cylinder.hh

@@ -16,6 +16,9 @@
 */
 #ifndef GZ_MATH_DETAIL_CYLINDER_HH_
 #define GZ_MATH_DETAIL_CYLINDER_HH_
+
+#include <optional>
+
 namespace gz
 {
 namespace math
@@ -116,6 +119,24 @@ bool Cylinder<T>::MassMatrix(MassMatrix3d &_massMat) const
       this->radius, this->rotOffset);
 }
 
+//////////////////////////////////////////////////
+template<typename T>
+std::optional < MassMatrix3<T> > Cylinder<T>::MassMatrix() const
+{
+  gz::math::MassMatrix3<T> _massMat;
+
+  if(!_massMat.SetFromCylinderZ(
+      this->material, this->length,
+      this->radius, this->rotOffset))
+  {
+    return std::nullopt;
+  }
+  else
+  {
+    return std::make_optional(_massMat);
+  }
+}
+
 //////////////////////////////////////////////////
 template<typename T>
 T Cylinder<T>::Volume() const

include/gz/math/detail/Sphere.hh

@@ -17,6 +17,7 @@
 #ifndef GZ_MATH_DETAIL_SPHERE_HH_
 #define GZ_MATH_DETAIL_SPHERE_HH_
 
+#include <optional>
 #include "gz/math/Sphere.hh"
 
 namespace gz
@@ -88,6 +89,23 @@ bool Sphere<T>::MassMatrix(MassMatrix3d &_massMat) const
   return _massMat.SetFromSphere(this->material, this->radius);
 }
 
+//////////////////////////////////////////////////
+template<typename T>
+std::optional < MassMatrix3<T> > Sphere<T>::MassMatrix() const
+{
+  gz::math::MassMatrix3<T> _massMat;
+
+  if(!_massMat.SetFromSphere(this->material, this->radius))
+  {
+    return std::nullopt;
+  }
+  else
+  {
+    return std::make_optional(_massMat);
+  }
+}
+
+
 //////////////////////////////////////////////////
 template<typename T>
 T Sphere<T>::Volume() const

src/Box_TEST.cc

@@ -498,4 +498,10 @@ TEST(BoxTest, Mass)
   box.MassMatrix(massMat);
   EXPECT_EQ(expectedMassMat, massMat);
   EXPECT_DOUBLE_EQ(expectedMassMat.Mass(), massMat.Mass());
+
+  auto massMatOpt = box.MassMatrix();
+  ASSERT_NE(std::nullopt, massMatOpt);
+  EXPECT_EQ(expectedMassMat, *massMatOpt);
+  EXPECT_EQ(expectedMassMat.DiagonalMoments(), massMatOpt->DiagonalMoments());
+  EXPECT_DOUBLE_EQ(expectedMassMat.Mass(), massMatOpt->Mass());
 }

src/Cylinder_TEST.cc

@@ -136,4 +136,10 @@ TEST(CylinderTest, Mass)
   cylinder.MassMatrix(massMat);
   EXPECT_EQ(expectedMassMat, massMat);
   EXPECT_DOUBLE_EQ(expectedMassMat.Mass(), massMat.Mass());
+
+  auto massMatOpt = cylinder.MassMatrix();
+  ASSERT_NE(std::nullopt, massMatOpt);
+  EXPECT_EQ(expectedMassMat, *massMatOpt);
+  EXPECT_EQ(expectedMassMat.DiagonalMoments(), massMatOpt->DiagonalMoments());
+  EXPECT_DOUBLE_EQ(expectedMassMat.Mass(), massMatOpt->Mass());
 }

src/Sphere_TEST.cc

@@ -129,6 +129,12 @@ TEST(SphereTest, Mass)
   sphere.MassMatrix(massMat);
   EXPECT_EQ(expectedMassMat, massMat);
   EXPECT_DOUBLE_EQ(expectedMassMat.Mass(), massMat.Mass());
+
+  auto massMatOpt = sphere.MassMatrix();
+  ASSERT_NE(std::nullopt, massMatOpt);
+  EXPECT_EQ(expectedMassMat, *massMatOpt);
+  EXPECT_EQ(expectedMassMat.DiagonalMoments(), massMatOpt->DiagonalMoments());
+  EXPECT_DOUBLE_EQ(expectedMassMat.Mass(), massMatOpt->Mass());
 }
 
 //////////////////////////////////////////////////

src/python_pybind11/CMakeLists.txt

@@ -104,8 +104,12 @@ function(configure_build_install_location _library_name)
   # Install into test folder in build space for unit tests to import
   set_target_properties(${_library_name} PROPERTIES
     # Use generator expression to avoid prepending a build type specific directory on Windows
-    LIBRARY_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test>
-    RUNTIME_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test>)
+    LIBRARY_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test/gz>
+    RUNTIME_OUTPUT_DIRECTORY $<1:${CMAKE_CURRENT_BINARY_DIR}/test/gz>)
+
+  # Touch an init file to mark this directory as a usable python module
+  file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/test/gz/)
+  file(TOUCH ${CMAKE_CURRENT_BINARY_DIR}/test/gz/__init__.py)
 
   # Install library for actual use
   install(TARGETS ${_library_name}
@@ -187,8 +191,8 @@ if (BUILD_TESTING)
     endif()
 
     set(_env_vars)
-    list(APPEND _env_vars "PYTHONPATH=${FAKE_INSTALL_PREFIX}/lib/python/")
-    list(APPEND _env_vars "LD_LIBRARY_PATH=${FAKE_INSTALL_PREFIX}/lib:$ENV{LD_LIBRARY_PATH}")
+    list(APPEND _env_vars "PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}/test")
+    list(APPEND _env_vars "LD_LIBRARY_PATH=${CMAKE_CURRENT_BINARY_DIR}/test:$ENV{LD_LIBRARY_PATH}")
     set_tests_properties(${test}.py PROPERTIES
       ENVIRONMENT "${_env_vars}")
   endforeach()

src/python_pybind11/src/Box.hh

@@ -105,11 +105,17 @@ void defineMathBox(py::module &m, const std::string &typestr)
     .def("set_density_from_mass",
          &Class::SetDensityFromMass,
          "Set the density of this box based on a mass value.")
-    .def("mass_matrix",
-         &Class::MassMatrix,
-         "Get the mass matrix for this box. This function "
-         "is only meaningful if the box's size and material "
-         "have been set.")
+     .def("mass_matrix",
+          py::overload_cast<>(&Class::MassMatrix, py::const_),
+          "Get the mass matrix for this box. This function "
+          "is only meaningful if the box's size and material "
+          "have been set.")
+     .def("mass_matrix",
+          py::overload_cast<gz::math::MassMatrix3<T>&>
+          (&Class::MassMatrix, py::const_),
+          "Get the mass matrix for this box. This function "
+          "is only meaningful if the box's size and material "
+          "have been set.")
     .def("intersections",
          [](const Class &self, const Plane<T> &_plane)
          {