Box Python interfaces (#273)

Signed-off-by: ahcorde <ahcorde@gmail.com> * Use tighter tolerance Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
gazebosim · Nov 2, 2021 · 074aa53 · 074aa53
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diff --git a/src/python/Box.i b/src/python/Box.i
@@ -0,0 +1,131 @@
+/*
+ * 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 box
+%{
+#include <ignition/math/Box.hh>
+#include <ignition/math/config.hh>
+#include <ignition/math/MassMatrix3.hh>
+#include <ignition/math/Material.hh>
+#include <ignition/math/Plane.hh>
+#include <ignition/math/Vector3.hh>
+
+#include "ignition/math/detail/WellOrderedVector.hh"
+
+#include <set>
+#include <optional>
+%}
+
+%include "typemaps.i"
+%typemap(out) (std::optional< ignition::math::Vector3< double > >) %{
+  if((*(&result)).has_value()) {
+    $result = SWIG_NewPointerObj(
+      (new ignition::math::Vector3< double >(static_cast< const ignition::math::Vector3< double >& >((*(&result)).value()))),
+      SWIGTYPE_p_ignition__math__Vector3T_double_t,
+      SWIG_POINTER_OWN |  0 );
+  } else {
+    $result = Py_None;
+    Py_INCREF(Py_None);
+  }
+%}
+
+%typemap(out) (std::optional< ignition::math::Vector3< int > >) %{
+  if((*(&result)).has_value()) {
+    $result = SWIG_NewPointerObj(
+      (new ignition::math::Vector3< int >(static_cast< const ignition::math::Vector3< int >& >((*(&result)).value()))),
+      SWIGTYPE_p_ignition__math__Vector3T_int_t,
+      SWIG_POINTER_OWN |  0 );
+  } else {
+    $result = Py_None;
+    Py_INCREF(Py_None);
+  }
+%}
+
+#include "std_set.i"
+%template(SetBoxDouble) std::set<ignition::math::Vector3<double>, ignition::math::WellOrderedVectors<double>>;
+%template(SetBoxInt) std::set<ignition::math::Vector3<int>, ignition::math::WellOrderedVectors<int>>;
+
+namespace ignition
+{
+  namespace math
+  {
+    template<typename Precision>
+    class Box
+    {
+      %rename("%(undercase)s", %$isfunction, notregexmatch$name="^[A-Z]*$") "";
+
+      public: Box() = default;
+
+      public: Box(const Precision _length,
+                  const Precision _width,
+                  const Precision _height);
+
+      public: Box(const Precision _length, const Precision _width,
+                  const Precision _height,
+                  const ignition::math::Material &_mat);
+
+      public: explicit Box(const ignition::math::Vector3<Precision> &_size);
+
+      public: Box(const ignition::math::Vector3<Precision> &_size,
+                  const ignition::math::Material &_mat);
+
+      public: virtual ~Box() = default;
+
+      public: ignition::math::Vector3<Precision> Size() const;
+
+      public: void SetSize(const ignition::math::Vector3<Precision> &_size);
+
+      public: void SetSize(const Precision _length,
+                           const Precision _width,
+                           const Precision _height);
+
+      public: bool operator==(const Box<Precision> &_b) const;
+
+      public: bool operator!=(const Box<Precision> &_b) const;
+
+      public: const ignition::math::Material &Material() const;
+
+      public: void SetMaterial(const ignition::math::Material &_mat);
+
+      public: Precision Volume() const;
+
+      public: Precision VolumeBelow(const ignition::math::Plane<Precision> &_plane) const;
+
+      public: std::optional<ignition::math::Vector3<Precision>>
+        CenterOfVolumeBelow(const ignition::math::Plane<Precision> &_plane) const;
+
+      public: std::set<ignition::math::Vector3<Precision>, ignition::math::WellOrderedVectors<Precision>>
+        VerticesBelow(const ignition::math::Plane<Precision> &_plane) const;
+
+      public: Precision DensityFromMass(const Precision _mass) const;
+
+      public: bool SetDensityFromMass(const Precision _mass);
+
+      public: bool MassMatrix(ignition::math::MassMatrix3<Precision> &_massMat) const;
+
+      public: std::set<ignition::math::Vector3<Precision>, ignition::math::WellOrderedVectors<Precision>> Intersections(
+        const ignition::math::Plane<Precision> &_plane) const;
+
+      private: ignition::math::Vector3<Precision> size = ignition::math::Vector3<Precision>::Zero;
+
+      private: ignition::math::Material material;
+    };
+
+    %template(Boxi) Box<int>;
+    %template(Boxd) Box<double>;
+  }
+}