Merge branch 'arjo/feat/volumetric_grid_custom_constructor' of github…

….com:gazebosim/gz-math into arjo/feat/volumetric_grid_custom_constructor

.github/ci/packages.apt

@@ -1,8 +1,9 @@
 libeigen3-dev
-libignition-cmake3-dev
-libignition-utils2-dev
+libgz-cmake3-dev
+libgz-utils2-dev
 libpython3-dev
 python3-distutils
 python3-pybind11
+python3-pytest
 ruby-dev
 swig

.github/workflows/ci.yml

@@ -11,7 +11,7 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@focal
+        uses: gazebo-tooling/action-gz-ci@focal
         with:
           codecov-enabled: true
           cppcheck-enabled: true
@@ -25,4 +25,4 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@jammy
+        uses: gazebo-tooling/action-gz-ci@jammy

.github/workflows/pr-collection-labeler.yml

@@ -8,6 +8,6 @@ jobs:
     steps:
     - name: Add collection labels
       if: github.event.action == 'opened'
-      uses: ignition-tooling/pr-collection-labeler@v1
+      uses: gazebo-tooling/pr-collection-labeler@v1
       with:
         github-token: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -5,3 +5,6 @@ build_*
 # OS generated files
 .DS_Store
 *.swp
+
+# Python generaated files
+*.pyc

BUILD.bazel

@@ -1,16 +1,16 @@
 load(
     "//gz_bazel:build_defs.bzl",
-    "IGNITION_FEATURES",
-    "IGNITION_VISIBILITY",
+    "GZ_FEATURES",
+    "GZ_VISIBILITY",
     "cmake_configure_file",
     "generate_include_header",
     "gz_config_header",
     "gz_export_header",
 )
 
 package(
-    default_visibility = IGNITION_VISIBILITY,
-    features = IGNITION_FEATURES,
+    default_visibility = GZ_VISIBILITY,
+    features = GZ_FEATURES,
 )
 
 licenses(["notice"])
@@ -28,23 +28,23 @@ PROJECT_PATCH = 0
 # Generates config.hh based on the version numbers in CMake code.
 gz_config_header(
     name = "config",
-    src = "include/ignition/math/config.hh.in",
+    src = "include/gz/math/config.hh.in",
     cmakelists = ["CMakeLists.txt"],
     project_name = PROJECT_NAME,
     project_version = (PROJECT_MAJOR, PROJECT_MINOR, PROJECT_PATCH),
 )
 
 gz_export_header(
-    name = "include/ignition/math/Export.hh",
-    export_base = "IGNITION_MATH",
-    lib_name = "ignition-math",
+    name = "include/gz/math/Export.hh",
+    export_base = "GZ_MATH",
+    lib_name = "gz-math",
     visibility = ["//visibility:private"],
 )
 
 public_headers_no_gen = glob([
-    "include/ignition/math/*.hh",
-    "include/ignition/math/detail/*.hh",
-    "include/ignition/math/graph/*.hh",
+    "include/gz/math/*.hh",
+    "include/gz/math/detail/*.hh",
+    "include/gz/math/graph/*.hh",
 ])
 
 private_headers = glob(["src/*.hh"])
@@ -56,17 +56,17 @@ sources = glob(
 
 generate_include_header(
     name = "mathhh_genrule",
-    out = "include/ignition/math.hh",
+    out = "include/gz/math.hh",
     hdrs = public_headers_no_gen + [
-        "include/ignition/math/config.hh",
-        "include/ignition/math/Export.hh",
+        "include/gz/math/config.hh",
+        "include/gz/math/Export.hh",
     ],
 )
 
 public_headers = public_headers_no_gen + [
-    "include/ignition/math/config.hh",
-    "include/ignition/math/Export.hh",
-    "include/ignition/math.hh",
+    "include/gz/math/config.hh",
+    "include/gz/math/Export.hh",
+    "include/gz/math.hh",
 ]
 
 cc_library(
@@ -78,9 +78,9 @@ cc_library(
 
 # use shared library only when absolutely needd
 cc_binary(
-    name = "libignition-math7.so",
+    name = "libgz-math7.so",
     includes = ["include"],
-    linkopts = ["-Wl,-soname,libignition-math7.so"],
+    linkopts = ["-Wl,-soname,libgz-math7.so"],
     linkshared = True,
     deps = [
         ":gz_math",

CMakeLists.txt

@@ -17,9 +17,7 @@ find_package(gz-cmake3 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(
-  REPLACE_IGNITION_INCLUDE_PATH gz/math
-  VERSION_SUFFIX pre1)
+gz_configure_project(VERSION_SUFFIX pre1)
 
 #============================================================================
 # Set project-specific options
@@ -58,7 +56,7 @@ gz_find_package(
 # Include swig
 find_package(SWIG QUIET)
 if (NOT SWIG_FOUND)
-  IGN_BUILD_WARNING("Swig is missing: Language interfaces are disabled.")
+  GZ_BUILD_WARNING("Swig is missing: Language interfaces are disabled.")
   message (STATUS "Searching for swig - not found.")
 else()
   message (STATUS "Searching for swig - found version ${SWIG_VERSION}.")
@@ -70,7 +68,7 @@ if (SWIG_FOUND)
   # Include ruby
   find_package(Ruby 1.9 QUIET)
   if (NOT RUBY_FOUND)
-    IGN_BUILD_WARNING("Ruby is missing: Install ruby-dev to enable ruby interfaces.")
+    GZ_BUILD_WARNING("Ruby is missing: Install ruby-dev to enable ruby interfaces.")
     message (STATUS "Searching for Ruby - not found.")
   else()
     message (STATUS "Searching for Ruby - found version ${RUBY_VERSION}.")
@@ -79,10 +77,10 @@ endif()
 
 ########################################
 # Python bindings
-include(IgnPython)
+include(GzPython)
 find_package(PythonLibs QUIET)
 if (NOT PYTHONLIBS_FOUND)
-  IGN_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
+  GZ_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
   message (STATUS "Searching for Python - not found.")
 else()
   message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
@@ -94,7 +92,7 @@ else()
   if (${pybind11_FOUND})
     message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
   else()
-    IGN_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
+    GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
     message (STATUS "Searching for pybind11 - not found.")
   endif()
 endif()

Changelog.md

@@ -53,6 +53,31 @@ instead.
 
 ### Gazebo Math 6.x.x
 
+## Gazebo Math 6.11.0 (2022-05-11)
+
+1. MassMatrix3: fix bug in PrincipalAxesOffset tolerances
+    * [Pull request #424](https://github.com/gazebosim/gz-math/pull/424)
+
+1. Fix return policies for some member functions
+    * [Pull request #422](https://github.com/gazebosim/gz-math/pull/422)
+
+1. Added Ellipsoid Python interface
+    * [Pull request #404](https://github.com/gazebosim/gz-math/pull/404)
+
+1. Added Capsule Python interface
+    * [Pull request #403](https://github.com/gazebosim/gz-math/pull/403)
+
+1. Fixes for tests on i386: relax SphericalCoordinates and workaround for negative zero
+    * [Pull request #374](https://github.com/gazebosim/gz-math/pull/374)
+
+1. Added helper function to check if a string represents a time
+    * [Pull request #389](https://github.com/gazebosim/gz-math/pull/389)
+
+1. Reduce pybind11 compilation memory
+    * [Pull request #382](https://github.com/gazebosim/gz-math/pull/382)
+    * [Pull request #373](https://github.com/gazebosim/gz-math/pull/373)
+    * [Pull request #371](https://github.com/gazebosim/gz-math/pull/371)
+
 ## Gazebo Math 6.10.0 (2022-01-26)
 
 1. Use const instead of constexpr in Ellipsoid constructor
@@ -392,7 +417,7 @@ instead.
 1. Added functions to convert between time_point and secNsec
     * [Pull request 150](https://github.com/gazebosim/gz-math/pull/150)
 
-1. Fix IGNITION_MATH_XXX_VERSION
+1. Fix GZ_MATH_XXX_VERSION
     * [Pull request 151](https://github.com/gazebosim/gz-math/pull/151)
 
 1. Add Max and Min function to Vector2.hh

Migration.md

@@ -12,6 +12,7 @@ release will remove the deprecated code.
   1. Removed the Quaternion integer template `Quaternioni`.
 
   1. The project name has been changed to use the `gz-` prefix, you **must** use the `gz` prefix!
+
     * This also means that any generated code that use the project name (e.g. CMake variables, in-source macros) would have to be migrated.
     * Some non-exhaustive examples of this include:
       * `GZ_<PROJECT>_<VISIBLE/HIDDEN>`
@@ -24,6 +25,10 @@ release will remove the deprecated code.
     + All mutator functions that lacked a `Set` prefix have been deprecated
     and replaced by version with a `Set` prefix.
 
+1. **SphericalCoordinates.hh**
+    + ***Deprecation:*** public: static double Distance(const Angle&, const Angle&, const Angle&, const Angle&)
+    + ***Replacement:*** public: static double DistanceWGS84(const Angle&, const Angle&, const Angle&, const Angle&)
+
 1. **Matrix3.hh**
     + ***Deprecation:*** public: void Axes(const Vector3<T> &, const Vector3<T> &, const Vector3<T> &)
     + ***Replacement:*** public: void SetAxes(const Vector3<T> &, const Vector3<T> &, const Vector3<T> &)
@@ -87,6 +92,7 @@ release will remove the deprecated code.
    1. `IGN_MASSMATRIX3_DEFAULT_TOLERANCE`
 1. All `IGN_*_SIZE_T` variables are deprecated and will be removed in future versions.
     Please use `GZ_*_SIZE_T` instead.
+1. Python library `ignition` namespaces should be replaced with `gz`.
 
 
 ### Modifications

NEWS

@@ -1 +1 @@
-http://ignition_robotics.org
+http://gazebosim.org

README.md

@@ -9,13 +9,12 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-math/branch/ign-math7/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-math)
-Ubuntu Focal  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-ign-math7-focal-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-ign-math7-focal-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-ign-math7-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-ign-math7-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ign_math-ign-7-win)](https://build.osrfoundation.org/job/ign_math-ign-7-win)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-math/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-math/branch/main)
+Ubuntu Focal  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-main-focal-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-main-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ign_math-ci-win)](https://build.osrfoundation.org/job/ign_math-ci-win)
 
-Gazebo Math, a component of [Gazebo
-Sim](https://gazebosim.org), provides general purpose math
+Gazebo Math, a component of [Gazebo](https://gazebosim.org), provides general purpose math
 classes and functions designed for robotic applications.
 
 # Table of Contents
@@ -59,9 +58,9 @@ Please refer to the [examples directory](https://github.com/gazebosim/gz-math/ra
 Refer to the following table for information about important directories and files in this repository.
 
 ```
-ign-math
+gz-math
 ├── examples                 Example programs.
-├── include/ignition/math    Header files.
+├── include/gz/math    Header files.
 ├── src                      Source files and unit tests.
 │   └── graph                Source files for the graph classes.
 │   └── python               SWIG Python interfaces.
@@ -77,8 +76,8 @@ ign-math
 ```
 # Contributing
 
-Please see
-[CONTRIBUTING.md](https://github.com/gazebosim/gz-sim/blob/main/CONTRIBUTING.md).
+Please see the
+[contributing guide](https://gazebosim.org/docs/all/contributing).
 
 # Code of Conduct
 

api.md.in

@@ -1,6 +1,6 @@
-## Gazebo @IGN_DESIGNATION_CAP@
+## Gazebo @GZ_DESIGNATION_CAP@
 
-Gazebo @IGN_DESIGNATION_CAP@ is a component in Gazebo, a set of
+Gazebo @GZ_DESIGNATION_CAP@ is a component in Gazebo, a set of
 libraries designed to rapidly develop robot and simulation applications.
 This library defines a general set of math classes and functions with an eye
 toward simulation and robotics.

eigen3/BUILD.bazel

@@ -1,11 +1,11 @@
 load(
     "//gz_bazel:build_defs.bzl",
-    "IGNITION_ROOT",
-    "IGNITION_VISIBILITY",
+    "GZ_ROOT",
+    "GZ_VISIBILITY",
 )
 
 package(
-    default_visibility = IGNITION_VISIBILITY,
+    default_visibility = GZ_VISIBILITY,
 )
 
 licenses(["notice"])
@@ -21,7 +21,7 @@ cc_library(
     includes = ["include"],
     deps = [
         "@eigen3",
-        IGNITION_ROOT + "gz_math",
+        GZ_ROOT + "gz_math",
     ],
 )
 

eigen3/include/CMakeLists.txt

@@ -1,2 +1,2 @@
 add_subdirectory(gz)
-install(DIRECTORY ignition DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL})
+install(DIRECTORY ignition DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL})