Adds Vector3 Rust API.

Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>

Cargo.toml

@@ -2,6 +2,7 @@
 resolver = "2"
 
 members = [
+ "maliput",
  "maliput-sdk",
  "maliput-sys",
 ]

maliput/Cargo.toml

@@ -0,0 +1,10 @@
+[package]
+name = "maliput"
+version = "0.1.0"
+edition = "2021"
+authors = ["Franco Cipollone <franco.c@ekumenlabs.com>"]
+description = "Rust API for maliput"
+
+[dependencies]
+cxx = "1.0.78"
+maliput-sys = { path = "../maliput-sys" }

maliput/examples/math.rs

@@ -0,0 +1,42 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2024, Woven by Toyota.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice, this
+// list of conditions and the following disclaimer.
+//
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+//
+// * Neither the name of the copyright holder nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+use maliput::math::Vector3;
+
+fn main() {
+ let v = Vector3::new(1.0, 2.0, 3.0);
+ println!("v = {}", v);
+ assert_eq!(v.x(), 1.0);
+ assert_eq!(v.y(), 2.0);
+ assert_eq!(v.z(), 3.0);
+ assert_eq!(v.norm(), (1.0_f64.powi(2) + 2.0_f64.powi(2) + 3.0_f64.powi(2)).sqrt());
+ assert_eq!(v.dot(&v), 1.0_f64.powi(2) + 2.0_f64.powi(2) + 3.0_f64.powi(2));
+ assert_eq!(v.cross(&v), Vector3::new(0.0, 0.0, 0.0));
+}

maliput/src/lib.rs

@@ -0,0 +1,30 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2024, Woven by Toyota.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice, this
+// list of conditions and the following disclaimer.
+//
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+//
+// * Neither the name of the copyright holder nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+pub mod math;

maliput/src/math/mod.rs

@@ -0,0 +1,154 @@
+// BSD 3-Clause License
+//
+// Copyright (c) 2024, Woven by Toyota.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice, this
+// list of conditions and the following disclaimer.
+//
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+//
+// * Neither the name of the copyright holder nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+/// A 3D vector.
+/// Wrapper around C++ implementation `maliput::math::Vector3`.
+///
+/// ## Example
+///
+/// ```rust, no_run
+/// use maliput::math::Vector3;
+///
+/// fn main() {
+/// let v = Vector3::new(1.0, 2.0, 3.0);
+/// println!("v = {}", v);
+/// assert_eq!(v.x(), 1.0);
+/// assert_eq!(v.y(), 2.0);
+/// assert_eq!(v.z(), 3.0);
+/// assert_eq!(v.norm(), (1.0_f64.powi(2) + 2.0_f64.powi(2) + 3.0_f64.powi(2)).sqrt());
+/// assert_eq!(v.dot(&v), 1.0_f64.powi(2) + 2.0_f64.powi(2) + 3.0_f64.powi(2));
+/// assert_eq!(v.cross(&v), Vector3::new(0.0, 0.0, 0.0));
+/// }
+/// ```
+pub struct Vector3 {
+ v: cxx::UniquePtr<maliput_sys::math::ffi::Vector3>,
+}
+
+impl Vector3 {
+ /// Create a new `Vector3` with the given `x`, `y`, and `z` components.
+ pub fn new(x: f64, y: f64, z: f64) -> Vector3 {
+ Vector3 {
+ v: maliput_sys::math::ffi::Vector3_new(x, y, z)
+ }
+ }
+ /// Get the `x` component of the `Vector3`.
+ pub fn x(&self) -> f64 {
+ self.v.x()
+ }
+ /// Get the `y` component of the `Vector3`.
+ pub fn y(&self) -> f64 {
+ self.v.y()
+ }
+ /// Get the `z` component of the `Vector3`.
+ pub fn z(&self) -> f64 {
+ self.v.z()
+ }
+ /// Get the norm of the `Vector3`.
+ pub fn norm(&self) -> f64 {
+ maliput_sys::math::ffi::Vector3_norm(&self.v)
+ }
+ /// Get the dot product of the `Vector3` with another `Vector3`.
+ pub fn dot(&self, w: &Vector3) -> f64 {
+ maliput_sys::math::ffi::Vector3_dot(&self.v, &w.v)
+ }
+ /// Get the cross product of the `Vector3` with another `Vector3`.
+ pub fn cross(&self, w: &Vector3) -> Vector3 {
+ Vector3 {
+ v: maliput_sys::math::ffi::Vector3_cross(&self.v, &w.v)
+ }
+ }
+}
+
+impl PartialEq for Vector3 {
+ fn eq(&self, other: &Self) -> bool {
+ maliput_sys::math::ffi::Vector3_equals(&self.v, &other.v)
+ }
+
+}
+
+impl Eq for Vector3 {}
+
+impl std::fmt::Display for Vector3 {
+ fn fmt(&self, f: &mut std::fmt::Formatter) -> std::fmt::Result {
+ write!(f, "{}", maliput_sys::math::ffi::Vector3_to_str(&self.v))
+ }
+}
+
+impl std::fmt::Debug for Vector3 {
+ fn fmt(&self, f: &mut std::fmt::Formatter) -> std::fmt::Result {
+ f.debug_struct("Vector3")
+ .field("x", &self.x())
+ .field("y", &self.y())
+ .field("z", &self.z())
+ .finish()
+ }
+}
+
+mod tests {
+ #[test]
+ fn vector3_new() {
+ let v = super::Vector3::new(1.0, 2.0, 3.0);
+ assert_eq!(v.x(), 1.0);
+ assert_eq!(v.y(), 2.0);
+ assert_eq!(v.z(), 3.0);
+ }
+
+ #[test]
+ fn equality() {
+ let v = super::Vector3::new(1.0, 2.0, 3.0);
+ let w = super::Vector3::new(1.0, 2.0, 3.0);
+ assert_eq!(v, w);
+ let z = super::Vector3::new(4.0, 5.0, 6.0);
+ assert_ne!(v, z);
+ }
+
+ #[test]
+ fn vector3_norm() {
+ let v = super::Vector3::new(1.0, 2.0, 3.0);
+ assert_eq!(v.norm(), (v.x()*v.x() + v.y()*v.y() + v.z()*v.z()).sqrt());
+ }
+
+ #[test]
+ fn vector3_dot() {
+ let v = super::Vector3::new(1.0, 2.0, 3.0);
+ let w = super::Vector3::new(4.0, 5.0, 6.0);
+ assert_eq!(v.dot(&w), v.x()*w.x() + v.y()*w.y() + v.z()*w.z());
+ }
+
+ #[test]
+ fn vector3_cross() {
+ let v = super::Vector3::new(1.0, 2.0, 3.0);
+ let w = super::Vector3::new(4.0, 5.0, 6.0);
+ let cross = v.cross(&w);
+ assert_eq!(cross.x(), v.y()*w.z() - v.z()*w.y());
+ assert_eq!(cross.y(), v.z()*w.x() - v.x()*w.z());
+ assert_eq!(cross.z(), v.x()*w.y() - v.y()*w.x());
+ }
+}