Added Matrix3 pybind11 interface

src/python/CMakeLists.txt

@@ -98,7 +98,6 @@ if (PYTHONLIBS_FOUND)
       Kmeans_TEST
       MassMatrix3_TEST
       Material_TEST
-      Matrix3_TEST
       Matrix4_TEST
       OrientedBox_TEST
       PID_TEST

src/python_pybind11/CMakeLists.txt

@@ -77,6 +77,7 @@ if (${pybind11_FOUND})
       Helpers_TEST
       Line2_TEST
       Line3_TEST
+      Matrix3_TEST
       MovingWindowFilter_TEST
       Quaternion_TEST
       Rand_TEST

src/python_pybind11/src/Matrix3.hh

@@ -0,0 +1,121 @@
+/*
+ * 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__MATRIX3_HH_
+#define IGNITION_MATH_PYTHON__MATRIX3_HH_
+
+#include <string>
+
+#include <pybind11/pybind11.h>
+#include <pybind11/operators.h>
+
+#include <ignition/math/Matrix3.hh>
+
+namespace py = pybind11;
+using namespace pybind11::literals;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::Matrix3
+/**
+ * \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 defineMathMatrix3(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::Matrix3<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<>())
+    .def(py::init<Class>())
+    .def(py::init<T, T, T, T, T, T, T, T, T>())
+    .def(py::init<const ignition::math::Quaternion<T>&>())
+    .def(py::self - py::self)
+    .def(py::self + py::self)
+    .def(py::self * py::self)
+    .def(py::self * float())
+    .def(py::self * ignition::math::Vector3<T>())
+    // .def(py::self * py::self)
+    // .def(py::self += py::self)
+    // .def(-py::self)
+    // .def(py::self -= py::self)
+    .def(py::self == py::self)
+    .def(py::self != py::self)
+    .def("__call__",
+         py::overload_cast<size_t, size_t>(&Class::operator()),
+         py::return_value_policy::reference)
+    // .def(py::self *= py::self)
+    .def("set",
+         &Class::Set,
+         "Set values")
+    .def("axes",
+         &Class::Axes,
+         "Set the matrix from three axis (1 per column)")
+    .def("axis",
+        &Class::Axis,
+        "Set the matrix from an axis and angle")
+    .def("from_2_axes",
+         &Class::From2Axes,
+         "Set the matrix to represent rotation from "
+         "vector _v1 to vector _v2, so that")
+    .def("col",
+         &Class::Col,
+         "Set a column.")
+    .def("equal",
+         &Class::Equal,
+         "Equality test operator")
+    .def("determinant",
+         &Class::Determinant,
+         "Return the determinant of the matrix")
+    .def("inverse",
+         &Class::Inverse,
+         "Return the inverse matrix")
+    .def("transpose",
+         &Class::Transpose,
+         "Transpose this matrix.")
+    .def("transposed",
+         &Class::Transposed,
+         "Return the transpose of this matrix")
+    .def("__copy__", [](const Class &self) {
+      return Class(self);
+    })
+    .def("__deepcopy__", [](const Class &self, py::dict) {
+      return Class(self);
+    }, "memo"_a)
+    .def_readonly_static("IDENTITY", &Class::Identity, "Identity matrix")
+    .def_readonly_static("ZERO", &Class::Zero, "Zero matrix")
+    .def("__str__", toString)
+    .def("__repr__", toString);
+}
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__MATRIX3_HH_

src/python_pybind11/src/_ignition_math_pybind11.cc

@@ -19,6 +19,7 @@
 #include "Helpers.hh"
 #include "Line2.hh"
 #include "Line3.hh"
+#include "Matrix3.hh"
 #include "MovingWindowFilter.hh"
 #include "Quaternion.hh"
 #include "Rand.hh"
@@ -73,6 +74,10 @@ PYBIND11_MODULE(math, m)
   ignition::math::python::defineMathLine3<double>(m, "Line3d");
   ignition::math::python::defineMathLine3<float>(m, "Line3f");
 
+  ignition::math::python::defineMathMatrix3<int>(m, "Matrix3i");
+  ignition::math::python::defineMathMatrix3<double>(m, "Matrix3d");
+  ignition::math::python::defineMathMatrix3<float>(m, "Matrix3f");
+
   ignition::math::python::defineMathQuaternion<int>(m, "Quaternioni");
   ignition::math::python::defineMathQuaternion<double>(m, "Quaterniond");
   ignition::math::python::defineMathQuaternion<float>(m, "Quaternionf");

src/python/Matrix3_TEST.py → src/python_pybind11/test/Matrix3_TEST.py

@@ -306,7 +306,7 @@ def test_from_2axes(self):
     def test_to_quaternion(self):
         q = Quaterniond(math.pi/2.0, math.pi/2.0, 0)
         matFromQuat = Matrix3d(q)
-        quatFromMat = matFromQuat.to_quaternion()
+        quatFromMat = Quaterniond(matFromQuat)
         self.assertTrue(q == quatFromMat)
 
         # test the cases where matrix trace is negative
@@ -315,21 +315,21 @@ def test_to_quaternion(self):
         mat = Matrix3d(-1,  0, 0,
                        0, -1, 0,
                        0,  0, 1)
-        q2 = mat.to_quaternion()
+        q2 = Quaterniond(mat)
         self.assertTrue(q == q2)
 
         q = Quaterniond(0, 0, 1, 0)
         mat = Matrix3d(-1,  0,  0,
                        0,  1,  0,
                        0,  0, -1)
-        q2 = mat.to_quaternion()
+        q2 = Quaterniond(mat)
         self.assertTrue(q == q2)
 
         q = Quaterniond(0, 1, 0, 0)
         mat = Matrix3d(1,  0,  0,
                        0, -1,  0,
                        0,  0, -1)
-        q2 = mat.to_quaternion()
+        q2 = Quaterniond(mat)
         self.assertTrue(q == q2)
 
 

src/python_pybind11/test/Quaternion_TEST.py

@@ -14,9 +14,9 @@
 
 import math
 import unittest
+from ignition.math import Matrix3d
 # TODO(ahcorde): Enable the corresponding tests when these classes
 # are ported
-# from ignition.math import Matrix3d
 # from ignition.math import Matrix4d
 from ignition.math import Quaterniond
 from ignition.math import Quaternionf
@@ -344,19 +344,19 @@ def test_math(self):
         self.assertTrue(-q == Quaterniond(-0.891007, -0.121334,
                                           -0.242668, -0.364002))
 
+        self.assertTrue(Matrix3d(q) == Matrix3d(
+                    0.617229, -0.589769, 0.52077,
+                    0.707544, 0.705561, -0.0395554,
+                    -0.344106, 0.392882, 0.85278))
+
+        matFromQ = Matrix3d(q)
+        self.assertTrue(matFromQ == Matrix3d(
+                    0.617229, -0.589769, 0.52077,
+                    0.707544, 0.705561, -0.0395554,
+                    -0.344106, 0.392882, 0.85278))
+
         # TODO(ahcorde): Enable the corresponding tests when these classes
         # are ported
-        # self.assertTrue(Matrix3d(q) == Matrix3d(
-        #             0.617229, -0.589769, 0.52077,
-        #             0.707544, 0.705561, -0.0395554,
-        #             -0.344106, 0.392882, 0.85278))
-        #
-        # matFromQ = Matrix3d(q)
-        # self.assertTrue(matFromQ == Matrix3d(
-        #             0.617229, -0.589769, 0.52077,
-        #             0.707544, 0.705561, -0.0395554,
-        #             -0.344106, 0.392882, 0.85278))
-        #
         # self.assertTrue(Matrix4d(q) == Matrix4d(
         #             0.617229, -0.589769, 0.52077, 0,
         #             0.707544, 0.705561, -0.0395554, 0,