Rename the python library as gz.math7

Migration.md

@@ -19,6 +19,8 @@ release will remove the deprecated code.
       * CMake `-config` files
       * Paths that depend on the project name
 
+  1. Python library imports such `import ignition.math` and `from ignition import math` should be replaced with `import gz.math7` and `from gz import math7`. Note the change from `ignition` to `gz` and the addition of the major version number as a suffix to the package name.
+
 ### Deprecations
 
 1. **Angle.hh**
@@ -89,7 +91,6 @@ 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

examples/angle_example.py

@@ -21,12 +21,12 @@
 # $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
 #
 
-import gz.math
+import gz.math7
 
-print("PI in degrees = {}\n".format(gz.math.Angle.PI.degree()))
+print("PI in degrees = {}\n".format(gz.math7.Angle.PI.degree()))
 
-a1 = gz.math.Angle(1.5707)
-a2 = gz.math.Angle(0.7854)
+a1 = gz.math7.Angle(1.5707)
+a2 = gz.math7.Angle(0.7854)
 print("a1 = {} radians, {} degrees\n".format(a1.radian(), a1.degree()))
 print("a2 = {} radians, {} degrees\n".format(a2.radian(), a2.degree()))
 print("a1 * a2 = {} radians, {} degrees\n".format((a1 * a2).radian(),
@@ -36,7 +36,7 @@
 print("a1 - a2 = {} radians, {} degrees\n".format((a1 - a2).radian(),
       (a1 - a2).degree()))
 
-a3 = gz.math.Angle(15.707)
+a3 = gz.math7.Angle(15.707)
 print("a3 = {} radians, {} degrees\n".format(a3.radian(), a3.degree()))
 a3.normalize()
 print("a3.Normalize = {} radians, {} degrees\n".format(a3.radian(),

examples/diff_drive_odometry.py

@@ -23,7 +23,7 @@
 import datetime
 import math
 
-from gz.math import Angle, DiffDriveOdometry
+from gz.math7 import Angle, DiffDriveOdometry
 
 odom = DiffDriveOdometry()
 

examples/gauss_markov_process_example.py

@@ -26,7 +26,7 @@
 # 2. Use gnuplot to create a plot:
 #     gnuplot -e 'set terminal jpeg; plot "plot.data" with lines' > out.jpg
 import datetime
-from gz.math import GaussMarkovProcess
+from gz.math7 import GaussMarkovProcess
 
 # Create the process with:
 #   * Start value of 20.2

examples/kmeans.py

@@ -13,7 +13,7 @@
 # limitations under the License.
 
 
-from gz.math import Kmeans, Vector3d
+from gz.math7 import Kmeans, Vector3d
 
 # Create some observations.
 obs = list([])

examples/rand_example.py

@@ -22,7 +22,7 @@
 # 2. Use gnuplot to create a plot:
 #     gnuplot -c rand_view_normal.gp > normal.jpg
 #     gnuplot -c rand_view_uniform.gp > uniform.jpg
-from gz.math import Rand
+from gz.math7 import Rand
 import sys
 
 if (len(sys.argv) < 2):

examples/vector2_example.py

@@ -20,11 +20,11 @@
 #
 # $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
 #
-import gz.math
+import gz.math7
 
-va = gz.math.Vector2d(1, 2)
-vb = gz.math.Vector2d(3, 4)
-vc = gz.math.Vector2d(vb)
+va = gz.math7.Vector2d(1, 2)
+vb = gz.math7.Vector2d(3, 4)
+vc = gz.math7.Vector2d(vb)
 
 print("va = {} {}\n".format(va.x(), va.y()))
 print("vb = {} {}\n".format(vb.x(), vb.y()))

examples/vector3_example.py

@@ -20,12 +20,12 @@
 #
 # $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
 #
-import gz.math
+import gz.math7
 
-v1 = gz.math.Vector3d(0, 0, 3)
+v1 = gz.math7.Vector3d(0, 0, 3)
 print("v =: {} {} {}\n".format(v1.x(), v1.y(), v1.z()))
 
-v2 = gz.math.Vector3d(4, 0, 0)
+v2 = gz.math7.Vector3d(4, 0, 0)
 print("v2 = {} {} {}\n".format(v2.x(), v2.y(), v2.z()))
 
 v3 = v1 + v2

src/python_pybind11/CMakeLists.txt

@@ -6,8 +6,9 @@ if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
 endif()
 
 message(STATUS "Building pybind11 interfaces")
+set(BINDINGS_MODULE_NAME "math${PROJECT_VERSION_MAJOR}")
 # Split from main extension and converted to pybind11
-pybind11_add_module(math MODULE
+pybind11_add_module(${BINDINGS_MODULE_NAME} MODULE
   src/_gz_math_pybind11.cc
   src/Angle.cc
   src/AxisAlignedBox.cc
@@ -51,21 +52,24 @@ pybind11_add_module(math MODULE
   src/Vector3Stats.cc
 )
 
-target_link_libraries(math PRIVATE
+target_link_libraries(${BINDINGS_MODULE_NAME} PRIVATE
   ${PROJECT_LIBRARY_TARGET_NAME}
 )
 
+target_compile_definitions(${BINDINGS_MODULE_NAME} PRIVATE
+  BINDINGS_MODULE_NAME=${BINDINGS_MODULE_NAME})
+
 if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
   # Workaround for Clang and pybind11 on Focal
   # https://github.com/pybind/pybind11/issues/1604
   # Resolved by newer versions of pybind11
   if(${pybind11_VERSION} VERSION_LESS "2.4.4")
-    target_compile_options(math PRIVATE -fsized-deallocation)
+    target_compile_options(${BINDINGS_MODULE_NAME} PRIVATE -fsized-deallocation)
   endif()
 
   # Suppress warnings that clang misidentifies:
   # https://github.com/pybind/pybind11/issues/1893
-  target_compile_options(math PRIVATE -Wno-self-assign-overloaded)
+  target_compile_options(${BINDINGS_MODULE_NAME} PRIVATE -Wno-self-assign-overloaded)
 endif()
 
 if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
@@ -107,31 +111,9 @@ function(configure_build_install_location _library_name)
   install(TARGETS ${_library_name}
     DESTINATION "${GZ_PYTHON_INSTALL_PATH}/"
   )
-
-  # TODO(CH3): Deprecated. Remove on tock.
-  # Install Python library symlinks
-  if(${GZ_PYTHON_INSTALL_PATH} MATCHES "gz$")
-    cmake_policy(SET CMP0087 NEW)  # Allow evaluation of generator expressions in install(CODE )
-    file(MAKE_DIRECTORY "${PROJECT_BINARY_DIR}/ignition")
-
-    string(REGEX REPLACE "gz$" "ignition" IGN_PYTHON_INSTALL_PATH ${GZ_PYTHON_INSTALL_PATH})
-    if (WIN32)  # Windows requires copy instead of symlink
-      install(TARGETS ${_library_name}
-        DESTINATION "${IGN_PYTHON_INSTALL_PATH}/"
-      )
-    else()
-      install(CODE "execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink \
-          ../gz/$<TARGET_FILE_NAME:${_library_name}> \
-          ${PROJECT_BINARY_DIR}\/ignition/$<TARGET_FILE_NAME:${_library_name}>)")
-      install(FILES ${PROJECT_BINARY_DIR}\/ignition/$<TARGET_FILE_NAME:${_library_name}>
-        DESTINATION "${IGN_PYTHON_INSTALL_PATH}/"
-      )
-    endif()
-  endif()
-
 endfunction()
 
-configure_build_install_location(math)
+configure_build_install_location(${BINDINGS_MODULE_NAME})
 
 if (BUILD_TESTING)
   # Add the Python tests

src/python_pybind11/src/_gz_math_pybind11.cc

@@ -63,7 +63,7 @@
 
 namespace py = pybind11;
 
-PYBIND11_MODULE(math, m)
+PYBIND11_MODULE(BINDINGS_MODULE_NAME, m)
 {
   m.doc() = "Gazebo Math Python Library.";
 

src/python_pybind11/test/Angle_TEST.py

@@ -14,7 +14,7 @@
 
 import unittest
 import math
-from gz.math import Angle
+from gz.math7 import Angle
 
 
 class TestAngle(unittest.TestCase):

src/python_pybind11/test/AxisAlignedBox_TEST.py

@@ -15,7 +15,7 @@
 import math
 import unittest
 
-from gz.math import AxisAlignedBox, Helpers, Line3d, Vector3d
+from gz.math7 import AxisAlignedBox, Helpers, Line3d, Vector3d
 
 
 class TestAxisAlignedBox(unittest.TestCase):

src/python_pybind11/test/Box_TEST.py

@@ -15,7 +15,7 @@
 import unittest
 
 import gz
-from gz.math import Boxd, MassMatrix3d, Material, Planed, Vector3d
+from gz.math7 import Boxd, MassMatrix3d, Material, Planed, Vector3d
 
 
 class TestBox(unittest.TestCase):
@@ -46,30 +46,30 @@ def test_constructor(self):
         self.assertEqual(box, box2)
 
         # Dimension and mat constructor
-        box = Boxd(1.0, 2.0, 5.0, Material(gz.math.MaterialType.WOOD))
+        box = Boxd(1.0, 2.0, 5.0, Material(gz.math7.MaterialType.WOOD))
         self.assertEqual(Vector3d(1.0, 2.0, 5.0), box.size())
-        self.assertEqual(Material(gz.math.MaterialType.WOOD), box.material())
+        self.assertEqual(Material(gz.math7.MaterialType.WOOD), box.material())
 
-        box2 = Boxd(1.0, 2.0, 5.0, Material(gz.math.MaterialType.WOOD))
+        box2 = Boxd(1.0, 2.0, 5.0, Material(gz.math7.MaterialType.WOOD))
         self.assertEqual(box, box2)
 
         # Vector Dimension and mat constructor
-        box = Boxd(Vector3d(2.2, 2.0, 10.0), Material(gz.math.MaterialType.WOOD))
+        box = Boxd(Vector3d(2.2, 2.0, 10.0), Material(gz.math7.MaterialType.WOOD))
         self.assertEqual(Vector3d(2.2, 2.0, 10.0), box.size())
-        self.assertEqual(Material(gz.math.MaterialType.WOOD), box.material())
+        self.assertEqual(Material(gz.math7.MaterialType.WOOD), box.material())
 
-        box2 = Boxd(Vector3d(2.2, 2.0, 10.0), Material(gz.math.MaterialType.WOOD))
+        box2 = Boxd(Vector3d(2.2, 2.0, 10.0), Material(gz.math7.MaterialType.WOOD))
         self.assertEqual(box, box2)
 
     def test_mutators(self):
         box = Boxd()
         box.set_size(100.1, 2.3, 5.6)
-        box.set_material(Material(gz.math.MaterialType.PINE))
+        box.set_material(Material(gz.math7.MaterialType.PINE))
 
         self.assertEqual(100.1, box.size().x())
         self.assertEqual(2.3, box.size().y())
         self.assertEqual(5.6, box.size().z())
-        self.assertEqual(Material(gz.math.MaterialType.PINE), box.material())
+        self.assertEqual(Material(gz.math7.MaterialType.PINE), box.material())
 
         box.set_size(Vector3d(3.4, 1.2, 0.5))
         self.assertEqual(3.4, box.size().x())

src/python_pybind11/test/Capsule_TEST.py

@@ -15,7 +15,7 @@
 import unittest
 
 import gz
-from gz.math import Capsuled, Material, MassMatrix3d
+from gz.math7 import Capsuled, Material, MassMatrix3d
 
 import math
 
@@ -41,14 +41,14 @@ def test_constructor(self):
 
         # Length, radius, mat
         capsule = Capsuled(1.0, 2.0,
-            Material(gz.math.MaterialType.WOOD));
+            Material(gz.math7.MaterialType.WOOD));
         self.assertEqual(1.0, capsule.length());
         self.assertEqual(2.0, capsule.radius());
-        self.assertEqual(Material(gz.math.MaterialType.WOOD),
+        self.assertEqual(Material(gz.math7.MaterialType.WOOD),
                          capsule.material());
 
         capsule2 = Capsuled(1.0, 2.0,
-            Material(gz.math.MaterialType.WOOD));
+            Material(gz.math7.MaterialType.WOOD));
         self.assertEqual(capsule, capsule2);
 
 
@@ -60,11 +60,11 @@ def test_mutators(self):
 
         capsule.set_length(100.1);
         capsule.set_radius(.123);
-        capsule.set_material(Material(gz.math.MaterialType.PINE));
+        capsule.set_material(Material(gz.math7.MaterialType.PINE));
 
         self.assertEqual(100.1, capsule.length());
         self.assertEqual(.123, capsule.radius());
-        self.assertEqual(Material(gz.math.MaterialType.PINE),
+        self.assertEqual(Material(gz.math7.MaterialType.PINE),
                          capsule.material());
 
 

src/python_pybind11/test/Color_TEST.py

@@ -14,8 +14,8 @@
 
 import math
 import unittest
-from gz.math import Color
-from gz.math import Vector3f
+from gz.math7 import Color
+from gz.math7 import Vector3f
 
 
 class TestColor(unittest.TestCase):

src/python_pybind11/test/Cylinder_TEST.py

@@ -16,7 +16,7 @@
 import unittest
 
 import gz
-from gz.math import Cylinderd, MassMatrix3d, Material, Quaterniond
+from gz.math7 import Cylinderd, MassMatrix3d, Material, Quaterniond
 
 
 class TestCylinder(unittest.TestCase):
@@ -54,14 +54,14 @@ def test_constructor(self):
         self.assertEqual(cylinder, cylinder2)
 
         # Length, radius, mat and rot constructor
-        cylinder = Cylinderd(1.0, 2.0, Material(gz.math.MaterialType.WOOD),
+        cylinder = Cylinderd(1.0, 2.0, Material(gz.math7.MaterialType.WOOD),
                              Quaterniond(0.1, 0.2, 0.3))
         self.assertEqual(1.0, cylinder.length())
         self.assertEqual(2.0, cylinder.radius())
         self.assertEqual(Quaterniond(0.1, 0.2, 0.3), cylinder.rotational_offset())
-        self.assertEqual(Material(gz.math.MaterialType.WOOD), cylinder.mat())
+        self.assertEqual(Material(gz.math7.MaterialType.WOOD), cylinder.mat())
 
-        cylinder2 = Cylinderd(1.0, 2.0, Material(gz.math.MaterialType.WOOD),
+        cylinder2 = Cylinderd(1.0, 2.0, Material(gz.math7.MaterialType.WOOD),
                               Quaterniond(0.1, 0.2, 0.3))
         self.assertEqual(cylinder, cylinder2)
 
@@ -75,12 +75,12 @@ def test_mutators(self):
         cylinder.set_length(100.1)
         cylinder.set_radius(.123)
         cylinder.set_rotational_offset(Quaterniond(1.2, 2.3, 3.4))
-        cylinder.set_mat(Material(gz.math.MaterialType.PINE))
+        cylinder.set_mat(Material(gz.math7.MaterialType.PINE))
 
         self.assertEqual(100.1, cylinder.length())
         self.assertEqual(.123, cylinder.radius())
         self.assertEqual(Quaterniond(1.2, 2.3, 3.4), cylinder.rotational_offset())
-        self.assertEqual(Material(gz.math.MaterialType.PINE), cylinder.mat())
+        self.assertEqual(Material(gz.math7.MaterialType.PINE), cylinder.mat())
 
     def test_volume_and_density(self):
         mass = 1.0

src/python_pybind11/test/DiffDriveOdometry_TEST.py

@@ -16,7 +16,7 @@
 import math
 import unittest
 
-from gz.math import Angle, DiffDriveOdometry
+from gz.math7 import Angle, DiffDriveOdometry
 
 
 class TestDiffDriveOdometry(unittest.TestCase):

src/python_pybind11/test/Ellipsoid_TEST.py

@@ -15,7 +15,7 @@
 import unittest
 
 import gz
-from gz.math import Ellipsoidd, Material, MassMatrix3d, Vector3d
+from gz.math7 import Ellipsoidd, Material, MassMatrix3d, Vector3d
 
 import math
 
@@ -40,7 +40,7 @@ def test_constructor(self):
 
         # Vector3 of radii and material
         expectedRadii = Vector3d(1.0, 2.0, 3.0)
-        expectedMaterial = Material(gz.math.MaterialType.WOOD)
+        expectedMaterial = Material(gz.math7.MaterialType.WOOD)
         ellipsoid = Ellipsoidd(expectedRadii, expectedMaterial)
         self.assertEqual(expectedRadii, ellipsoid.radii())
         self.assertEqual(expectedMaterial, ellipsoid.material())
@@ -57,7 +57,7 @@ def test_mutators(self):
         expectedRadii = Vector3d(1.0, 2.0, 3.0)
         ellipsoid.set_radii(expectedRadii)
 
-        expectedMaterial = Material(gz.math.MaterialType.PINE)
+        expectedMaterial = Material(gz.math7.MaterialType.PINE)
         ellipsoid.set_material(expectedMaterial)
 
         self.assertEqual(expectedRadii, ellipsoid.radii())