Added Angle Pybind11 interface

src/python/CMakeLists.txt

@@ -87,7 +87,6 @@ if (PYTHONLIBS_FOUND)
   if (BUILD_TESTING)
     # Add the Python tests
     set(python_tests
-      Angle_TEST
       AxisAlignedBox_TEST
       Box_TEST
       Color_TEST

src/python_pybind11/CMakeLists.txt

@@ -14,6 +14,11 @@ if (${pybind11_FOUND})
   # Split from main extension and converted to pybind11
   pybind11_add_module(math SHARED
     src/_ignition_math_pybind11.cc
+    src/Angle.cc
+  )
+
+  target_link_libraries(math PRIVATE
+    ${PROJECT_LIBRARY_TARGET_NAME}
   )
 
   if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
@@ -62,6 +67,7 @@ if (${pybind11_FOUND})
   if (BUILD_TESTING)
     # Add the Python tests
     set(python_tests
+      Angle_TEST
       Vector2_TEST
       Vector3_TEST
       Vector4_TEST

src/python_pybind11/src/Angle.cc

@@ -0,0 +1,101 @@
+/*
+ * 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 <pybind11/operators.h>
+
+#include "Angle.hh"
+
+using namespace pybind11::literals;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathAngle(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::Angle;
+  auto toString = [](const Class &si) {
+    std::stringstream stream;
+    stream << si;
+    return stream.str();
+  };
+  py::class_<Class>(
+    m,
+    typestr.c_str(),
+    py::buffer_protocol(),
+    py::dynamic_attr())
+    .def(py::init<>())
+    .def(py::init<const double>())
+    .def(py::init<const Class>())
+    .def("radian",
+         py::overload_cast<>(&Class::Radian, py::const_),
+         "Set the value from an angle in radians.")
+    .def("radian",
+         py::overload_cast<double>(&Class::Radian),
+         "Set the value from an angle in radians.")
+    .def("set_radian",
+         &Class::SetRadian,
+         "Set the value from an angle in radians.")
+    .def("degree",
+         py::overload_cast<>(&Class::Degree, py::const_),
+         "Set the value from an angle in degree.")
+    .def("degree",
+         py::overload_cast<double>(&Class::Degree),
+         "Set the value from an angle in degree.")
+    .def("set_degree",
+         &Class::SetDegree,
+         "Set the value from an angle in degree.")
+    .def("normalize",
+         &Class::Normalize,
+         "Normalize the vector length")
+    .def("normalized",
+         &Class::Normalized,
+         "Return a normalized vector")
+    .def(py::self + py::self)
+    .def(py::self += py::self)
+    .def(py::self * py::self)
+    .def(py::self *= py::self)
+    .def(py::self - py::self)
+    .def(py::self -= py::self)
+    .def(py::self / py::self)
+    .def(py::self /= py::self)
+    .def(py::self != py::self)
+    .def(py::self == py::self)
+    .def(py::self < py::self)
+    .def(py::self <= py::self)
+    .def(py::self > py::self)
+    .def(py::self >= py::self)
+    .def_readonly_static("ZERO", &Class::Zero, "math::Angle(0)")
+    .def_readonly_static("PI", &Class::Pi, "math::Angle(IGN_PI)")
+    .def_readonly_static("HALF_PI", &Class::HalfPi, "math::Angle(IGN_PI * 0.5)")
+    .def_readonly_static("TWO_PI", &Class::TwoPi, "math::Angle(IGN_PI * 2)")
+    .def("__copy__", [](const Class &self) {
+      return Class(self);
+    })
+    .def("__deepcopy__", [](const Class &self, py::dict) {
+      return Class(self);
+    }, "memo"_a)
+    .def("__str__", toString)
+    .def("__repr__", toString);
+}
+}  // namespace python
+}  // namespace math
+}  // namespace ignition

src/python_pybind11/src/Angle.hh

@@ -0,0 +1,44 @@
+/*
+ * 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__ANGLE_HPP_
+#define IGNITION_MATH_PYTHON__ANGLE_HPP_
+
+#include <string>
+
+#include <pybind11/pybind11.h>
+
+#include <ignition/math/Angle.hh>
+
+namespace py = pybind11;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::Angle
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathAngle(py::module &m, const std::string &typestr);
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__ANGLE_HPP_

src/python_pybind11/src/_ignition_math_pybind11.cc

@@ -14,6 +14,7 @@
 
 #include <pybind11/pybind11.h>
 
+#include "Angle.hh"
 #include "Vector2.hh"
 #include "Vector3.hh"
 #include "Vector4.hh"
@@ -24,8 +25,7 @@ PYBIND11_MODULE(math, m)
 {
   m.doc() = "Ignition Math Python Library.";
 
-
-
+  ignition::math::python::defineMathAngle(m, "Angle");
 
   ignition::math::python::defineMathVector2<double>(m, "Vector2d");
   ignition::math::python::defineMathVector2<int>(m, "Vector2i");