Add Line2 pybind11 interface

src/python/CMakeLists.txt

@@ -96,7 +96,6 @@ if (PYTHONLIBS_FOUND)
       GaussMarkovProcess_TEST
       Inertial_TEST
       Kmeans_TEST
-      Line2_TEST
       Line3_TEST
       MassMatrix3_TEST
       Material_TEST

src/python_pybind11/CMakeLists.txt

@@ -73,6 +73,7 @@ if (${pybind11_FOUND})
       Angle_TEST
       Color_TEST
       Helpers_TEST
+      Line2_TEST
       Rand_TEST
       Vector2_TEST
       Vector3_TEST

src/python_pybind11/src/Line2.hh

@@ -0,0 +1,135 @@
+/*
+ * 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__LINE2_HH_
+#define IGNITION_MATH_PYTHON__LINE2_HH_
+
+#include <string>
+
+#include <pybind11/pybind11.h>
+#include <pybind11/operators.h>
+
+#include <ignition/math/Line2.hh>
+
+namespace py = pybind11;
+using namespace pybind11::literals;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::Line2
+/**
+ * \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 defineMathLine2(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::Line2<T>;
+  auto toString = [](const Class &si) {
+    std::stringstream stream;
+    stream << si;
+    return stream.str();
+  };
+  std::string pyclass_name = typestr;
+  py::class_<Class>(m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+    .def(py::init<const ignition::math::Vector2<T>&,
+                  const ignition::math::Vector2<T>&>())
+    .def(py::init<double, double, double, double>())
+    .def(py::self != py::self)
+    .def(py::self == py::self)
+    .def("set",
+         py::overload_cast<const ignition::math::Vector2<T>&,
+                           const ignition::math::Vector2<T>&>(&Class::Set),
+         "Set the start and end point of the line segment")
+    .def("set",
+         py::overload_cast<double, double, double, double>(&Class::Set),
+         "Set the start and end point of the line segment")
+    .def("cross_product",
+         py::overload_cast<const Class&>(&Class::CrossProduct, py::const_),
+         "Return the cross product of this line and the given line.")
+    .def("cross_product",
+         py::overload_cast<const ignition::math::Vector2<T>&>(
+           &Class::CrossProduct, py::const_),
+         "Return the cross product of this line and the given line.")
+    .def("collinear",
+         py::overload_cast<const ignition::math::Vector2<T>&, double>(
+         &Class::Collinear, py::const_),
+         py::arg("_pt") = ignition::math::Vector2<T>::Zero,
+         py::arg("_epsilon") = 1e-6,
+         "Check if the given point is collinear with this line.")
+    .def("collinear",
+         py::overload_cast<const Class&, double>(&Class::Collinear, py::const_),
+         py::arg("_pt") = Class(0, 0, 0, 0), py::arg("_epsilon") = 1e-6,
+         "Check if the given point is collinear with this line.")
+    .def("parallel",
+         &Class::Parallel,
+         py::arg("_line") = Class(0, 0, 0, 0), py::arg("_epsilon") = 1e-6,
+         "Check if the given line is parallel with this line.")
+    .def("on_segment",
+         &Class::OnSegment,
+         "Return whether the given point is on this line segment.")
+    .def("within",
+         &Class::Within,
+         "Check if the given point is between the start and end "
+         "points of the line segment. This does not imply that the point is "
+         "on the segment.")
+    .def("intersect",
+         py::overload_cast<
+           const Class&,
+           ignition::math::Vector2<T>&,
+           double>(
+             &Class::Intersect, py::const_),
+         py::arg("_line") = Class(0, 0, 0, 0),
+         py::arg("_pt") = ignition::math::Vector2<T>::Zero,
+         py::arg("_epsilon") = 1e-6,
+         "Check if this line intersects the given line segment.")
+    .def("intersect",
+         py::overload_cast<const Class&, double>(&Class::Intersect, py::const_),
+         py::arg("_line") = Class(0, 0, 0, 0), py::arg("_epsilon") = 1e-6,
+         "Check if this line intersects the given line segment.")
+    .def("length",
+         &Class::Length,
+         "Get the length of the line")
+    .def("slope",
+         &Class::Slope,
+         "Get the slope of the line")
+    .def("__copy__", [](const Class &self) {
+      return Class(self);
+    })
+    .def("__deepcopy__", [](const Class &self, py::dict) {
+      return Class(self);
+    }, "memo"_a)
+    .def("__getitem__",
+         py::overload_cast<const std::size_t>(&Class::operator[], py::const_))
+    .def("__setitem__",
+         [](Class* vec, unsigned index, T val) { (*vec)[index] = val; })
+    .def("__str__", toString)
+    .def("__repr__", toString);
+}
+
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__LINE2_HH_

src/python_pybind11/src/_ignition_math_pybind11.cc

@@ -17,6 +17,7 @@
 #include "Angle.hh"
 #include "Color.hh"
 #include "Helpers.hh"
+#include "Line2.hh"
 #include "Rand.hh"
 #include "Vector2.hh"
 #include "Vector3.hh"
@@ -47,4 +48,8 @@ PYBIND11_MODULE(math, m)
   ignition::math::python::defineMathVector4<double>(m, "Vector4d");
   ignition::math::python::defineMathVector4<int>(m, "Vector4i");
   ignition::math::python::defineMathVector4<float>(m, "Vector4f");
+
+  ignition::math::python::defineMathLine2<int>(m, "Line2i");
+  ignition::math::python::defineMathLine2<double>(m, "Line2d");
+  ignition::math::python::defineMathLine2<float>(m, "Line2f");
 }