Added MovingWindowFilter pybind11 interface (#321)

Signed-off-by: ahcorde <ahcorde@gmail.com>

src/python/CMakeLists.txt

@@ -100,7 +100,6 @@ if (PYTHONLIBS_FOUND)
       Material_TEST
       Matrix3_TEST
       Matrix4_TEST
-      MovingWindowFilter_TEST
       OrientedBox_TEST
       PID_TEST
       Plane_TEST

src/python_pybind11/CMakeLists.txt

@@ -77,6 +77,7 @@ if (${pybind11_FOUND})
       Helpers_TEST
       Line2_TEST
       Line3_TEST
+      MovingWindowFilter_TEST
       Quaternion_TEST
       Rand_TEST
       RollingMean_TEST

src/python_pybind11/src/MovingWindowFilter.hh

@@ -0,0 +1,64 @@
+/*
+ * 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__MOVINGWINDOWFILTER_HH_
+#define IGNITION_MATH_PYTHON__MOVINGWINDOWFILTER_HH_
+
+#include <string>
+
+#include <pybind11/pybind11.h>
+
+#include <ignition/math/MovingWindowFilter.hh>
+
+namespace py = pybind11;
+using namespace pybind11::literals;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::MovingWindowFilter
+/**
+ * \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 defineMathMovingWindowFilter(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::MovingWindowFilter<T>;
+  std::string pyclass_name = typestr;
+  py::class_<Class>(m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+    .def(py::init<>())
+    .def("update", &Class::Update, "Update value of filter")
+    .def("set_window_size", &Class::SetWindowSize, "Set window size")
+    .def("window_size", &Class::WindowSize, "Get the window size.")
+    .def("window_filled",
+         &Class::WindowFilled,
+         "Get whether the window has been filled.")
+    .def("value", &Class::Value, "Get filtered result");
+}
+
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__MovingWindowFilterD_HH_

src/python_pybind11/src/_ignition_math_pybind11.cc

@@ -19,6 +19,7 @@
 #include "Helpers.hh"
 #include "Line2.hh"
 #include "Line3.hh"
+#include "MovingWindowFilter.hh"
 #include "Quaternion.hh"
 #include "Rand.hh"
 #include "RollingMean.hh"
@@ -39,6 +40,13 @@ PYBIND11_MODULE(math, m)
 
   ignition::math::python::defineMathHelpers(m);
 
+  ignition::math::python::defineMathMovingWindowFilter<int>(
+    m, "MovingWindowFilteri");
+  ignition::math::python::defineMathMovingWindowFilter<double>(
+    m, "MovingWindowFilterd");
+  ignition::math::python::defineMathMovingWindowFilter
+    <ignition::math::Vector3d>(m, "MovingWindowFilterv3");
+
   ignition::math::python::defineMathRand(m, "Rand");
 
   ignition::math::python::defineMathRollingMean(m, "RollingMean");