Merge 6.9.0 to main

[scpeters]

➡️ Forward port

Port ign-math6 as of 6.9.0 to main. Needed by gazebosim/sdformat#803 and gazebo-tooling/release-tools#574

It has compilation warnings that need fixing still

Branch comparison: main...ignition-math6_6.9.0

Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)

[chapulina]

We need to update the python bindings to accommodate the deprecated functions so the warnings are fixed. Since the python API is still in beta, we don't need to tick-tock it, so I say we just update the SWIG files to use the new functions.

[chapulina]

We need to update the python bindings to accommodate the deprecated functions so the warnings are fixed.

Done in c69f1a9. One of the tests fails for me locally before and after this PR though. I tried a few different things, and even if I don't use abs, the vector's value doesn't look right locally. Let's see what CI says.

ERROR: test_math (__main__.TestQuaternion)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "src/ign-math/src/python/Quaternion_TEST.py", line 191, in test_math
    self.assertAlmostEqual(
  File "/usr/lib/python3.8/unittest/case.py", line 943, in assertAlmostEqual
    diff = abs(first - second)
TypeError: bad operand type for abs(): 'Vector3d'

[scpeters]

We need to update the python bindings to accommodate the deprecated functions so the warnings are fixed.

Done in c69f1a9. One of the tests fails for me locally before and after this PR though. I tried a few different things, and even if I don't use abs, the vector's value doesn't look right locally. Let's see what CI says.

ERROR: test_math (__main__.TestQuaternion)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "src/ign-math/src/python/Quaternion_TEST.py", line 191, in test_math
    self.assertAlmostEqual(
  File "/usr/lib/python3.8/unittest/case.py", line 943, in assertAlmostEqual
    diff = abs(first - second)
TypeError: bad operand type for abs(): 'Vector3d'

I fixed a few more instances of deprecated APIs being called in python tests and amended c69f1a9 to 482381d and force-pushed

[chapulina]

I fixed a few more instances of deprecated APIs being called in python tests and amended c69f1a9 to 482381d and force-pushed

It's still failing. I've been looking into it, I think it's because of some of the API changes on main for constructors and accessors. For example, this test failure:

  FAIL: test_pose (__main__.TestPose3)
  ----------------------------------------------------------------------
  Traceback (most recent call last):
    File "/github/workspace/src/python/Pose3_TEST.py", line 44, in test_pose
      self.assertAlmostEqual((B + A).pos().x(), 1.0 + 1.0/math.sqrt(2))
  AssertionError: 0.0 != 1.7071067811865475 within 7 places (1.7071067811865475 difference)

Is fixed if we use (B + A).x() instead of (B + A).pos().x().

[chapulina]

Updated the last commit from 482381d to 84837c2. I changed some tests to workaround the failures, and commented out others. I still don't know what's the issue, but I suspect it's related to the Vector3 copy constructor. I tried changing that from default to an implementation though and that didn't help 🤷‍♀️

[codecov]

Codecov Report

Merging #344 (237fab5) into main (04a4c85) will decrease coverage by 0.03%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##             main     #344      +/-   ##
==========================================
- Coverage   99.27%   99.23%   -0.04%     
==========================================
  Files          67       68       +1     
  Lines        6077     6305     +228     
==========================================
+ Hits         6033     6257     +224     
- Misses         44       48       +4     

Impacted Files	Coverage Δ
include/ignition/math/Box.hh	100.00% <ø> (ø)
include/ignition/math/Sphere.hh	100.00% <ø> (ø)
include/ignition/math/Vector3.hh	98.84% <ø> (ø)
include/ignition/math/Line3.hh	100.00% <100.00%> (ø)
include/ignition/math/Plane.hh	100.00% <100.00%> (ø)
include/ignition/math/Pose3.hh	100.00% <100.00%> (ø)
include/ignition/math/detail/Box.hh	100.00% <100.00%> (ø)
include/ignition/math/detail/Sphere.hh	100.00% <100.00%> (ø)
include/ignition/math/detail/WellOrderedVector.hh	100.00% <100.00%> (ø)
src/SphericalCoordinates.cc	100.00% <100.00%> (ø)
... and 2 more

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[chapulina]

Added TODOs in 237fab5 to revisit the quaternion python tests after migrating to pybind11. I think there's little point in improving the SWIG python implementation right now. It may become important when we use it for Ruby though.