Merge ign-math6 as of Frustum SWIG to main

examples/quaternion_from_euler.cc

@@ -44,7 +44,7 @@ int main(int argc, char **argv)
   if (argc != 4)
   {
     std::cerr << "Invalid usage\n\n"
-              << "Usage (angles specified in radians):\n"
+              << "Usage (angles specified in degrees):\n"
               << "  quaternion_from_euler "
               << "<float_roll> <float_pitch> <float_yaw>\n\n"
               << "Example\n"
@@ -53,9 +53,9 @@ int main(int argc, char **argv)
     return -1;
   }
 
-  double roll = strToDouble(argv[1]);
-  double pitch = strToDouble(argv[2]);
-  double yaw = strToDouble(argv[3]);
+  double roll = IGN_DTOR(strToDouble(argv[1]));
+  double pitch = IGN_DTOR(strToDouble(argv[2]));
+  double yaw = IGN_DTOR(strToDouble(argv[3]));
 
   std::cout << "Converting Euler angles:\n";
   printf(" roll  % .6f radians\n"

include/ignition/math/AxisAlignedBox.hh

@@ -229,7 +229,9 @@ namespace ignition
       /// greater than zero.
       /// \return Density of the cylinder in kg/m^3. A negative value is
       /// returned if radius, length or _mass is <= 0.
-      public: double DensityFromMass(const double _mass) const;
+      /// \deprecated Unimplemented
+      public: double IGN_DEPRECATED(6.0) DensityFromMass(
+        const double _mass) const;
 
       /// \brief Set the density of this box based on a mass value.
       /// Density is computed using
@@ -243,15 +245,21 @@ namespace ignition
       /// \return True if the density was set. False is returned if the
       /// box's size or the _mass value are <= 0.
       /// \sa double DensityFromMass(const double _mass) const
-      public: bool SetDensityFromMass(const double _mass);
+      /// \deprecated Unimplemented
+      public: bool IGN_DEPRECATED(6.0) SetDensityFromMass(
+        const double _mass);
 
       /// \brief Get the material associated with this box.
       /// \return The material assigned to this box.
-      public: const ignition::math::Material &Material() const;
+      /// \deprecated Unimplemented
+      public: const ignition::math::Material IGN_DEPRECATED(6.0)
+        &Material() const;
 
       /// \brief Set the material associated with this box.
       /// \param[in] _mat The material assigned to this box
-      public: void SetMaterial(const ignition::math::Material &_mat);
+      /// \deprecated Unimplemented
+      public: void IGN_DEPRECATED(6.0) SetMaterial(
+        const ignition::math::Material &_mat);
 
       /// \brief Get the mass matrix for this box. This function
       /// is only meaningful if the box's size and material
@@ -260,7 +268,9 @@ namespace ignition
       /// here.
       /// \return False if computation of the mass matrix failed, which
       /// could be due to an invalid size (<=0) or density (<=0).
-      public: bool MassMatrix(MassMatrix3d &_massMat) const;
+      /// \deprecated Unimplemented
+      public: bool IGN_DEPRECATED(6.0) MassMatrix(
+        MassMatrix3d &_massMat) const;
 
       /// \brief Clip a line to a dimension of the box.
       /// This is a helper function to Intersects

src/python/AxisAlignedBox.i

@@ -0,0 +1,126 @@
+/*
+ * 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 axisalignedbox
+%{
+#include <iostream>
+#include <tuple>
+#include <ignition/math/AxisAlignedBox.hh>
+#include <ignition/math/config.hh>
+#include <ignition/math/Helpers.hh>
+#include <ignition/math/Line3.hh>
+#include <ignition/math/Vector3.hh>
+%}
+
+%include "typemaps.i"
+
+%typemap(out) (std::tuple<bool, double>) {
+  $result = PyTuple_New(2);
+  PyTuple_SET_ITEM($result, 0, PyBool_FromLong(std::get<0>($1)));
+  PyTuple_SET_ITEM($result, 1, PyFloat_FromDouble(std::get<1>($1)));
+}
+
+%typemap(out) (std::tuple<bool, double, ignition::math::Vector3< double > >) {
+  $result = PyTuple_New(3);
+  std::tuple<bool, double, ignition::math::Vector3< double > > tuplecpp($1);
+  PyTuple_SET_ITEM($result, 0, PyBool_FromLong(std::get<0>(tuplecpp)));
+  PyTuple_SET_ITEM($result, 1, PyFloat_FromDouble(std::get<1>(tuplecpp)));
+
+  ignition::math::Vector3<double> vector3 = std::get<2>(tuplecpp);
+  PyObject *pyobject =  SWIG_NewPointerObj((new ignition::math::Vector3< double >(static_cast< const ignition::math::Vector3< double >& >(vector3))), SWIGTYPE_p_ignition__math__Vector3T_double_t, SWIG_POINTER_OWN |  0 );
+  PyTuple_SET_ITEM(resultobj, 2, pyobject);
+}
+
+
+namespace ignition
+{
+  namespace math
+  {
+    class AxisAlignedBox
+    {
+      %rename("%(undercase)s", %$isfunction, notregexmatch$name="^[A-Z]*$") "";
+
+      public: AxisAlignedBox();
+
+      public: AxisAlignedBox(const math::Vector3<double> &_vec1, const math::Vector3<double> &_vec2);
+
+      public: AxisAlignedBox(double _vec1X, double _vec1Y, double _vec1Z,
+                  double _vec2X, double _vec2Y, double _vec2Z);
+
+      public: AxisAlignedBox(const AxisAlignedBox &_b);
+
+      public: virtual ~AxisAlignedBox();
+
+      %rename(x_length) XLength;
+      public: double XLength() const;
+
+      %rename(y_length) YLength;
+      public: double YLength() const;
+
+      %rename(z_length) ZLength;
+      public: double ZLength() const;
+
+      public: math::Vector3<double> Size() const;
+
+      public: math::Vector3<double> Center() const;
+
+      public: void Merge(const AxisAlignedBox &_box);
+
+      public: AxisAlignedBox operator+(const AxisAlignedBox &_b) const;
+
+      public: const AxisAlignedBox &operator+=(const AxisAlignedBox &_b);
+
+      public: bool operator==(const AxisAlignedBox &_b) const;
+
+      public: bool operator!=(const AxisAlignedBox &_b) const;
+
+      public: AxisAlignedBox operator-(const math::Vector3<double> &_v);
+
+      public: AxisAlignedBox operator+(const math::Vector3<double> &_v);
+
+      public: const math::Vector3<double> &Min() const;
+
+      public: const math::Vector3<double> &Max() const;
+
+      public: math::Vector3<double> &Min();
+
+      public: math::Vector3<double> &Max();
+
+      public: bool Intersects(const AxisAlignedBox &_box) const;
+
+      public: bool Contains(const math::Vector3<double> &_p) const;
+
+      public: bool IntersectCheck(const math::Vector3<double> &_origin, const math::Vector3<double> &_dir,
+                  const double _min, const double _max) const;
+
+      public: std::tuple<bool, double> IntersectDist(
+                  const math::Vector3<double> &_origin, const math::Vector3<double> &_dir,
+                  const double _min, const double _max) const;
+
+      public: std::tuple<bool, double, math::Vector3<double>> Intersect(
+                  const math::Line3<double> &_line) const;
+
+      public: std::tuple<bool, double, math::Vector3<double>> Intersect(
+          const math::Vector3<double> &_origin, const math::Vector3<double> &_dir,
+          const double _min, const double _max) const;
+
+      /// \brief Get the volume of the box in m^3.
+      /// \return Volume of the box in m^3.
+      public: double Volume() const;
+    };
+  }
+}