Merge branch 'ign-math6' into fixes_for_testi386

.github/workflows/ci.yml

@@ -24,3 +24,12 @@ jobs:
       - name: Compile and test
         id: ci
         uses: ignition-tooling/action-ignition-ci@focal
+  jammy-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Jammy CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@jammy

CMakeLists.txt

@@ -80,6 +80,7 @@ else()
   message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
 
   set(PYBIND11_PYTHON_VERSION 3)
+  find_package(Python3 QUIET COMPONENTS Interpreter Development)
   find_package(pybind11 2.2 QUIET)
 
   if (${pybind11_FOUND})

src/python_pybind11/CMakeLists.txt

@@ -20,9 +20,14 @@ pybind11_add_module(math SHARED
   src/Kmeans.cc
   src/Line2.cc
   src/Line3.cc
+  src/MassMatrix3.cc
   src/Material.cc
+  src/Matrix3.cc
+  src/Matrix4.cc
   src/MovingWindowFilter.cc
   src/PID.cc
+  src/Pose3.cc
+  src/Quaternion.cc
   src/Rand.cc
   src/RollingMean.cc
   src/RotationSpline.cc
@@ -32,6 +37,8 @@ pybind11_add_module(math SHARED
   src/Spline.cc
   src/StopWatch.cc
   src/Temperature.cc
+  src/Triangle.cc
+  src/Triangle3.cc
   src/Vector2.cc
   src/Vector3.cc
   src/Vector4.cc

src/python_pybind11/src/MassMatrix3.cc

@@ -0,0 +1,36 @@
+/*
+ * 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 <string>
+
+#include "MassMatrix3.hh"
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathMassMatrix3(py::module &m, const std::string &typestr)
+{
+  helpDefineMathMassMatrix3<double>(m, typestr + "d");
+  helpDefineMathMassMatrix3<float>(m, typestr + "f");
+}
+
+}  // namespace python
+}  // namespace gazebo
+}  // namespace ignition

src/python_pybind11/src/MassMatrix3.hh

@@ -34,12 +34,19 @@ namespace math
 namespace python
 {
 /// Define a pybind11 wrapper for an ignition::math::MassMatrix3
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathMassMatrix3(py::module &m, const std::string &typestr);
+
+/// Help define a pybind11 wrapper for an ignition::math::MassMatrix3
 /**
  * \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 defineMathMassMatrix3(py::module &m, const std::string &typestr)
+void helpDefineMathMassMatrix3(py::module &m, const std::string &typestr)
 {
   using Class = ignition::math::MassMatrix3<T>;
   std::string pyclass_name = typestr;

src/python_pybind11/src/Matrix3.cc

@@ -0,0 +1,37 @@
+/*
+ * 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 <string>
+
+#include "Matrix3.hh"
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathMatrix3(py::module &m, const std::string &typestr)
+{
+  helpDefineMathMatrix3<double>(m, typestr + "d");
+  helpDefineMathMatrix3<float>(m, typestr + "f");
+  helpDefineMathMatrix3<int>(m, typestr + "i");
+}
+
+}  // namespace python
+}  // namespace gazebo
+}  // namespace ignition

src/python_pybind11/src/Matrix3.hh

@@ -35,12 +35,19 @@ namespace math
 namespace python
 {
 /// Define a pybind11 wrapper for an ignition::math::Matrix3
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathMatrix3(py::module &m, const std::string &typestr);
+
+/// Help define a pybind11 wrapper for an ignition::math::Matrix3
 /**
  * \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 defineMathMatrix3(py::module &m, const std::string &typestr)
+void helpDefineMathMatrix3(py::module &m, const std::string &typestr)
 {
   using Class = ignition::math::Matrix3<T>;
   auto toString = [](const Class &si) {

src/python_pybind11/src/Matrix4.cc

@@ -0,0 +1,37 @@
+/*
+ * 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 <string>
+
+#include "Matrix4.hh"
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathMatrix4(py::module &m, const std::string &typestr)
+{
+  helpDefineMathMatrix4<double>(m, typestr + "d");
+  helpDefineMathMatrix4<float>(m, typestr + "f");
+  helpDefineMathMatrix4<int>(m, typestr + "i");
+}
+
+}  // namespace python
+}  // namespace gazebo
+}  // namespace ignition

src/python_pybind11/src/Matrix4.hh

@@ -34,13 +34,20 @@ namespace math
 {
 namespace python
 {
+/// Define a pybind11 wrapper for an ignition::math::Matrix4
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathMatrix4(py::module &m, const std::string &typestr);
+
 /// Define a pybind11 wrapper for an ignition::math::Matrix4
 /**
  * \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 defineMathMatrix4(py::module &m, const std::string &typestr)
+void helpDefineMathMatrix4(py::module &m, const std::string &typestr)
 {
   using Class = ignition::math::Matrix4<T>;
   auto toString = [](const Class &si) {

src/python_pybind11/src/Pose3.cc

@@ -0,0 +1,37 @@
+/*
+ * 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 <string>
+
+#include "Pose3.hh"
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathPose3(py::module &m, const std::string &typestr)
+{
+  helpDefineMathPose3<double>(m, typestr + "d");
+  helpDefineMathPose3<float>(m, typestr + "f");
+  helpDefineMathPose3<int>(m, typestr + "i");
+}
+
+}  // namespace python
+}  // namespace gazebo
+}  // namespace ignition

src/python_pybind11/src/Pose3.hh

@@ -35,12 +35,19 @@ namespace math
 namespace python
 {
 /// Define a pybind11 wrapper for an ignition::math::Pose3
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathPose3(py::module &m, const std::string &typestr);
+
+/// Help define a pybind11 wrapper for an ignition::math::Pose3
 /**
  * \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 defineMathPose3(py::module &m, const std::string &typestr)
+void helpDefineMathPose3(py::module &m, const std::string &typestr)
 {
   using Class = ignition::math::Pose3<T>;
   auto toString = [](const Class &si) {

src/python_pybind11/src/Quaternion.cc

@@ -0,0 +1,37 @@
+/*
+ * 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 <string>
+
+#include "Quaternion.hh"
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathQuaternion(py::module &m, const std::string &typestr)
+{
+  helpDefineMathQuaternion<double>(m, typestr + "d");
+  helpDefineMathQuaternion<float>(m, typestr + "f");
+  helpDefineMathQuaternion<int>(m, typestr + "i");
+}
+
+}  // namespace python
+}  // namespace gazebo
+}  // namespace ignition

src/python_pybind11/src/Quaternion.hh

@@ -38,12 +38,19 @@ namespace math
 namespace python
 {
 /// Define a pybind11 wrapper for an ignition::math::Quaternion
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathQuaternion(py::module &m, const std::string &typestr);
+
+/// Help define a pybind11 wrapper for an ignition::math::Quaternion
 /**
  * \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 defineMathQuaternion(py::module &m, const std::string &typestr)
+void helpDefineMathQuaternion(py::module &m, const std::string &typestr)
 {
   using Class = ignition::math::Quaternion<T>;
   auto toString = [](const Class &si) {

src/python_pybind11/src/Triangle.cc

@@ -0,0 +1,37 @@
+/*
+ * 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 <string>
+
+#include "Triangle.hh"
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathTriangle(py::module &m, const std::string &typestr)
+{
+  helpDefineMathTriangle<double>(m, typestr + "d");
+  helpDefineMathTriangle<float>(m, typestr + "f");
+  helpDefineMathTriangle<int>(m, typestr + "i");
+}
+
+}  // namespace python
+}  // namespace gazebo
+}  // namespace ignition

src/python_pybind11/src/Triangle.hh

@@ -35,12 +35,19 @@ namespace math
 namespace python
 {
 /// Define a pybind11 wrapper for an ignition::math::Triangle
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathTriangle(py::module &m, const std::string &typestr);
+
+/// Help define a pybind11 wrapper for an ignition::math::Triangle
 /**
  * \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 defineMathTriangle(py::module &m, const std::string &typestr)
+void helpDefineMathTriangle(py::module &m, const std::string &typestr)
 {
   using Class = ignition::math::Triangle<T>;
   py::class_<Class>(m,