Adds python interface to MaterialType and Material. (#234)

Signed-off-by: LolaSegura <[email protected]>

* Fixed material Python interface (#248)

Signed-off-by: ahcorde <[email protected]>
Co-authored-by: Alejandro Hernández Cordero <[email protected]>

src/python/CMakeLists.txt

@@ -94,6 +94,7 @@ if (PYTHONLIBS_FOUND)
       Kmeans_TEST
       Line2_TEST
       Line3_TEST
+      Material_TEST
       Matrix3_TEST
       Matrix4_TEST
       MovingWindowFilter_TEST

src/python/Material.i

@@ -0,0 +1,59 @@
+/*
+ * 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.
+ *
+*/
+
+%module material
+%{
+#include <ignition/math/config.hh>
+#include <ignition/math/Export.hh>
+#include <ignition/math/Material.hh>
+#include <ignition/math/MaterialType.hh>
+%}
+
+%include "std_string.i"
+%include "std_map.i"
+
+%template(map_material_type) std::map<int,
+                                      ignition::math::Material>;
+
+namespace ignition
+{
+namespace math
+{
+    class Material
+    {
+      %rename("%(undercase)s", %$isfunction, %$ismember, %$not %$isconstructor) "";
+      public: Material();
+      public: explicit Material(const MaterialType _type);
+      public: explicit Material(const std::string &_typename);
+      public: explicit Material(const double _density);
+      public: Material(const Material &_material);
+      public: ~Material();
+      public: static const std::map<int, Material> &Predefined();
+      public: void SetToNearestDensity(
+                  const double _value,
+                  const double _epsilon = std::numeric_limits<double>::max());
+      public: bool operator==(const Material &_material) const;
+      public: bool operator!=(const Material &_material) const;
+      public: MaterialType Type() const;
+      public: void SetType(const MaterialType _type);
+      public: std::string Name() const;
+      public: void SetName(const std::string &_name);
+      public: double Density() const;
+      public: void SetDensity(const double _density);
+    };
+}
+}

src/python/MaterialType.i

@@ -0,0 +1,47 @@
+/*
+ * 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.
+ *
+*/
+
+%module materialtype
+%{
+#include <ignition/math/config.hh>
+#include <ignition/math/Export.hh>
+#include <ignition/math/MaterialType.hh>
+%}
+
+namespace ignition
+{
+namespace math
+{
+  enum class MaterialType
+    {
+      STYROFOAM = 0,
+      PINE,
+      WOOD,
+      OAK,
+      PLASTIC,
+      CONCRETE,
+      ALUMINUM,
+      STEEL_ALLOY,
+      STEEL_STAINLESS,
+      IRON,
+      BRASS,
+      COPPER,
+      TUNGSTEN,
+      UNKNOWN_MATERIAL
+    };
+}
+}

src/python/Material_TEST.py

@@ -0,0 +1,110 @@
+# 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.
+
+import sys
+import unittest
+
+import ignition.math
+
+
+class TestMaterial(unittest.TestCase):
+
+    def test_init(self):
+        mats = ignition.math.Material.predefined()
+        self.assertTrue(len(mats))
+
+        # Make sure that the number of elements in the MaterialType enum matches
+        # the number of elements in the MaterialDensity::materials map.
+        self.assertEqual(ignition.math.MaterialType_UNKNOWN_MATERIAL, len(mats))
+
+        # Iterate over each element in the enum. Check the that enum value
+        # matches the type value in the mats map.
+        for i in range(ignition.math.MaterialType_UNKNOWN_MATERIAL):
+            # Get the type of the material for MaterialType i.
+            self.assertEqual(i, next(iter(mats.find(i)))[1].type())
+
+            # The name should not be empty
+            self.assertTrue(next(iter(mats.find(i)))[1].name())
+
+            # The density should be less than the max double value and greater than
+            # zero.
+            self.assertLess(next(iter(mats.find(i)))[1].density(), sys.float_info.max)
+            self.assertGreater(next(iter(mats.find(i)))[1].density(), 0.0)
+
+        malicious = ignition.math.Material(42)
+        self.assertEqual(-1.0, malicious.density())
+        self.assertEqual('', malicious.name())
+
+        byDensity = ignition.math.Material(42.2)
+        self.assertEqual(42.2, byDensity.density())
+        self.assertEqual(ignition.math.MaterialType_UNKNOWN_MATERIAL, byDensity.type())
+
+    def test_comparison(self):
+        aluminum = ignition.math.Material(ignition.math.MaterialType_ALUMINUM)
+
+        modified = ignition.math.Material(aluminum)
+        self.assertEqual(modified, aluminum)
+
+        modified.set_density(1234.0)
+        self.assertNotEqual(modified, aluminum)
+
+        modified = ignition.math.Material(aluminum)
+        self.assertEqual(modified, aluminum)
+
+        modified.set_type(ignition.math.MaterialType_PINE)
+        self.assertNotEqual(modified, aluminum)
+
+    def test_accessors(self):
+
+        mat = ignition.math.Material("Aluminum")
+        mat1 = ignition.math.Material("aluminum")
+        mat2 = ignition.math.Material(ignition.math.MaterialType_ALUMINUM)
+        mat3 = ignition.math.Material(mat2)
+
+        self.assertAlmostEqual(2700.0, mat.density())
+        self.assertEqual(mat, mat1)
+        self.assertEqual(mat1, mat2)
+        self.assertEqual(mat2, mat3)
+
+        # Test constructor
+        mat4 = ignition.math.Material(mat3)
+        self.assertEqual(mat2, mat4)
+
+        mat5 = ignition.math.Material(mat4)
+        self.assertEqual(mat2, mat5)
+
+        mat = ignition.math.Material("Notfoundium")
+        self.assertGreater(0.0, mat.density())
+        self.assertEqual(ignition.math.MaterialType_UNKNOWN_MATERIAL,
+                         mat.type())
+        self.assertFalse(mat.name())
+
+        material = ignition.math.Material()
+        material.set_to_nearest_density(19300.0)
+        self.assertEqual(ignition.math.MaterialType_TUNGSTEN, material.type())
+        self.assertAlmostEqual(19300.0, material.density())
+
+        material = ignition.math.Material()
+        material.set_to_nearest_density(1001001.001, 1e-3)
+        self.assertEqual(ignition.math.MaterialType_UNKNOWN_MATERIAL,
+                         material.type())
+        self.assertGreater(0.0, material.density())
+        material = ignition.math.Material()
+        material.set_to_nearest_density(1001001.001)
+        self.assertEqual(ignition.math.MaterialType_TUNGSTEN, material.type())
+        self.assertAlmostEqual(19300, material.density())
+
+
+if __name__ == '__main__':
+    unittest.main()

src/python/python.i

@@ -21,6 +21,8 @@
 %include SignalStats.i
 %include Spline.i
 %include Temperature.i
+%include MaterialType.i
+%include Material.i
 %include Triangle.i
 %include Kmeans.i
 %include Vector3Stats.i