Merge branch 'ign-math6' into ahcorde/pybind11/helpers

examples/CMakeLists.txt

@@ -22,6 +22,9 @@ target_link_libraries(quaternion_to_euler ignition-math${IGN_MATH_VER}::ignition
 add_executable(quaternion_from_euler quaternion_from_euler.cc)
 target_link_libraries(quaternion_from_euler ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 
+add_executable(rand_example rand_example.cc)
+target_link_libraries(rand_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
+
 add_executable(graph_example graph_example.cc)
 target_link_libraries(graph_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 

examples/rand_example.cc

@@ -0,0 +1,54 @@
+/*
+ * 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.
+ *
+*/
+//! [complete]
+#include <iostream>
+#include <ignition/math/Rand.hh>
+
+// You can plot the data generated by this program by following these
+// steps.
+//
+// 1. Run this program and save the output to a file:
+//     ./rand_example normal > normal.data
+//     ./rand_example uniform > uniform.data
+//
+// 2. Use gnuplot to create a plot:
+//     gnuplot -c rand_view_normal.gp > normal.jpg
+//     gnuplot -c rand_view_uniform.gp > uniform.jpg
+int main(int argc, char **argv)
+{
+  if (argc < 2)
+  {
+    std::cout << "./rand_example [normal, uniform]" << '\n';
+    return -1;
+  }
+  for (int i = 0; i < 100000; ++i)
+  {
+    double value;
+    if (std::string(argv[1]) == "normal")
+    {
+      value = ignition::math::Rand::DblNormal(0, 100);
+    }
+    else if (std::string(argv[1]) == "uniform")
+    {
+      value = ignition::math::Rand::DblUniform(0, 1000);
+    }
+    std::cout << value << std::endl;
+  }
+
+  return 0;
+}
+//! [complete]

examples/rand_example.py

@@ -0,0 +1,37 @@
+# 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.
+
+# You can plot the data generated by this program by following these
+# steps.
+#
+# 1. Run this program and save the output to a file:
+#     ./rand_example normal > normal.data
+#     ./rand_example uniform > uniform.data
+#
+# 2. Use gnuplot to create a plot:
+#     gnuplot -c rand_view_normal.gp > normal.jpg
+#     gnuplot -c rand_view_uniform.gp > uniform.jpg
+from ignition.math import Rand
+import sys
+
+if (len(sys.argv) < 2):
+    print("python rand_example [normal, uniform]")
+else:
+    for i in range(100000):
+        value = 0
+        if (sys.argv[1] == "uniform"):
+            value = Rand.dbl_uniform(0, 1000);
+        elif (sys.argv[1] == "normal"):
+            value = Rand.dbl_normal(0, 100);
+        print(value)

examples/rand_view_normal.gp

@@ -0,0 +1,12 @@
+set terminal jpeg
+binwidth = 5
+bin(x,width)=width*floor(x/width)
+
+set tics out nomirror
+set style fill transparent solid 0.5 border lt -1
+set xrange [-1000:1000]
+set xtics binwidth
+set boxwidth binwidth
+set yrange [0:2500]
+
+plot "normal.data" u (bin($1,binwidth)):(1.0) smooth freq with boxes notitle

examples/rand_view_uniform.gp

@@ -0,0 +1,12 @@
+set terminal jpeg
+binwidth = 50
+bin(x,width)=width*floor(x/width)
+
+set tics out nomirror
+set style fill transparent solid 0.5 border lt -1
+set xrange [0:1000]
+set xtics binwidth
+set boxwidth binwidth
+set yrange [0:10000]
+
+plot "uniform.data" u (bin($1,binwidth)):(1.0) smooth freq with boxes notitle

src/python/CMakeLists.txt

@@ -110,7 +110,6 @@ if (PYTHONLIBS_FOUND)
       Pose3_TEST
       python_TEST
       Quaternion_TEST
-      Rand_TEST
       RollingMean_TEST
       RotationSpline_TEST
       SemanticVersion_TEST

src/python_pybind11/CMakeLists.txt

@@ -16,6 +16,7 @@ if (${pybind11_FOUND})
     src/_ignition_math_pybind11.cc
     src/Angle.cc
     src/Helpers.cc
+    src/Rand.cc
   )
 
   target_link_libraries(math PRIVATE
@@ -70,6 +71,7 @@ if (${pybind11_FOUND})
     set(python_tests
       Angle_TEST
       Helpers_TEST
+      Rand_TEST
       Vector2_TEST
       Vector3_TEST
       Vector4_TEST

src/python_pybind11/src/Rand.cc

@@ -0,0 +1,58 @@
+/*
+ * 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 "Rand.hh"
+#include <ignition/math/Rand.hh>
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathRand(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::Rand;
+  std::string pyclass_name = typestr;
+  py::class_<Class>(m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+  .def(py::init<>())
+  .def("seed",
+        py::overload_cast<>(&ignition::math::Rand::Seed),
+        "Get the seed value.")
+   .def("seed",
+        py::overload_cast<unsigned int>(&ignition::math::Rand::Seed),
+        "Set the seed value.")
+   .def("dbl_uniform",
+        ignition::math::Rand::DblUniform,
+        "Get a double from a uniform distribution")
+   .def("dbl_normal",
+        ignition::math::Rand::DblNormal,
+        "Get a double from a normal distribution")
+   .def("int_uniform",
+        ignition::math::Rand::IntUniform,
+        "Get a integer from a uniform distribution")
+   .def("int_normal",
+        ignition::math::Rand::IntNormal,
+        "Get a integer from a normal distribution");
+}
+}  // namespace python
+}  // namespace gazebo
+}  // namespace ignition

src/python_pybind11/src/Rand.hh

@@ -0,0 +1,41 @@
+/*
+ * 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__RAND_HH_
+#define IGNITION_MATH_PYTHON__RAND_HH_
+
+#include <pybind11/pybind11.h>
+#include <string>
+
+namespace py = pybind11;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::Rand
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void defineMathRand(py::module &m, const std::string &typestr);
+}  // namespace python
+}  // namespace gazebo
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__RAND_HH_

src/python_pybind11/src/_ignition_math_pybind11.cc

@@ -16,6 +16,7 @@
 
 #include "Angle.hh"
 #include "Helpers.hh"
+#include "Rand.hh"
 #include "Vector2.hh"
 #include "Vector3.hh"
 #include "Vector4.hh"
@@ -30,6 +31,8 @@ PYBIND11_MODULE(math, m)
 
   ignition::math::python::defineMathHelpers(m);
 
+  ignition::math::python::defineMathRand(m, "Rand");
+
   ignition::math::python::defineMathVector2<double>(m, "Vector2d");
   ignition::math::python::defineMathVector2<int>(m, "Vector2i");
   ignition::math::python::defineMathVector2<float>(m, "Vector2f");