Merge 6 -> 7 (all of it)

.github/ci/packages.apt

@@ -5,4 +5,3 @@ python3-distutils
 python3-pybind11
 ruby-dev
 swig
-python3-pybind11

.github/workflows/ci.yml

@@ -27,3 +27,12 @@ jobs:
  with:
  cpplint-enabled: true
  cppcheck-enabled: true
+ jammy-ci:
+ runs-on: ubuntu-latest
+ name: Ubuntu Jammy CI
+ steps:
+ - name: Checkout
+ uses: actions/checkout@v2
+ - name: Compile and test
+ id: ci
+ uses: ignition-tooling/action-ignition-ci@jammy

CMakeLists.txt

@@ -72,15 +72,26 @@ if (SWIG_FOUND)
  else()
  message (STATUS "Searching for Ruby - found version ${RUBY_VERSION}.")
  endif()
+endif()
 
- ########################################
- # Include python
- find_package(PythonInterp 3 REQUIRED) # change to Python3 when Bionic is EOL
- find_package(PythonLibs QUIET)
- if (NOT PYTHONLIBS_FOUND)
- message (STATUS "Searching for Python - not found.")
+########################################
+# Python bindings
+include(IgnPython)
+find_package(PythonLibs QUIET)
+if (NOT PYTHONLIBS_FOUND)
+ IGN_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
+ message (STATUS "Searching for Python - not found.")
+else()
+ message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
+
+ set(PYBIND11_PYTHON_VERSION 3)
+ find_package(pybind11 2.2 QUIET)
+
+ if (${pybind11_FOUND})
+ message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
  else()
- message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
+ IGN_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
+ message (STATUS "Searching for pybind11 - not found.")
  endif()
 endif()
 

Changelog.md

@@ -53,6 +53,166 @@ instead.
 
 ### Ignition Math 6.x.x
 
+## Ignition Math 6.10.0 (2022-01-26)
+
+1. Use const instead of constexpr in Ellipsoid constructor
+ * [Pull request #366](https:/ignitionrobotics/ign-math/pull/366)
+
+1. Refactor finding pybind11
+ * [Pull request #360](https:/ignitionrobotics/ign-math/pull/360)
+
+1. Fix Focal on Jenkins
+ * [Pull request #364](https:/ignitionrobotics/ign-math/pull/364)
+
+1. kmeans example in C++ and Python
+ * [Pull request #356](https:/ignitionrobotics/ign-math/pull/356)
+
+1. Small fixed in doxygen
+ * [Pull request #355](https:/ignitionrobotics/ign-math/pull/355)
+
+1. Added Python Getting started tutorial
+ * [Pull request #362](https:/ignitionrobotics/ign-math/pull/362)
+
+1. Move SWIG interfaces from Python to Ruby
+ * [Pull request #354](https:/ignitionrobotics/ign-math/pull/354)
+
+1. Added pybind11 interfaces for various classes
+ 1. SphericalCoordinates
+ * [Pull request #357](https:/ignitionrobotics/ign-math/pull/357)
+ 1. Vector3Stats
+ * [Pull request #351](https:/ignitionrobotics/ign-math/pull/351)
+ 1. SignalStats
+ * [Pull request #343](https:/ignitionrobotics/ign-math/pull/343)
+ 1. Sphere
+ * [Pull request #352](https:/ignitionrobotics/ign-math/pull/352)
+ 1. Frustum
+ * [Pull request #353](https:/ignitionrobotics/ign-math/pull/353)
+ 1. Plane
+ * [Pull request #346](https:/ignitionrobotics/ign-math/pull/346)
+ 1. Cylinder
+ * [Pull request #348](https:/ignitionrobotics/ign-math/pull/348)
+ 1. OrientedBox
+ * [Pull request #276](https:/ignitionrobotics/ign-math/pull/276)
+ * [Pull request #350](https:/ignitionrobotics/ign-math/pull/350)
+ 1. Inertial
+ * [Pull request #349](https:/ignitionrobotics/ign-math/pull/349)
+ 1. Matrix4
+ * [Pull request #337](https:/ignitionrobotics/ign-math/pull/337)
+ 1. PID
+ * [Pull request #323](https:/ignitionrobotics/ign-math/pull/323)
+ * [Pull request #361](https:/ignitionrobotics/ign-math/pull/361)
+ 1. Temperature
+ * [Pull request #330](https:/ignitionrobotics/ign-math/pull/330)
+ 1. DiffDriveOdometry (with examples)
+ * [Pull request #314](https:/ignitionrobotics/ign-math/pull/314)
+ 1. MassMatrix3
+ * [Pull request #345](https:/ignitionrobotics/ign-math/pull/345)
+ 1. AxisAlignedBox
+ * [Pull request #338](https:/ignitionrobotics/ign-math/pull/338)
+ * [Pull request #281](https:/ignitionrobotics/ign-math/pull/281)
+ 1. GaussMarkovProcess (with examples)
+ * [Pull request #315](https:/ignitionrobotics/ign-math/pull/315)
+ 1. RotationSpline
+ * [Pull request #339](https:/ignitionrobotics/ign-math/pull/339)
+ 1. Material
+ * [Pull request #340](https:/ignitionrobotics/ign-math/pull/340)
+ 1. Kmeans
+ * [Pull request #341](https:/ignitionrobotics/ign-math/pull/341)
+ 1. Triangle3
+ * [Pull request #335](https:/ignitionrobotics/ign-math/pull/335)
+ 1. Pose3
+ * [Pull request #334](https:/ignitionrobotics/ign-math/pull/334)
+ 1. Triangle
+ * [Pull request #333](https:/ignitionrobotics/ign-math/pull/333)
+ 1. Spline
+ * [Pull request #332](https:/ignitionrobotics/ign-math/pull/332)
+ 1. Filter
+ * [Pull request #336](https:/ignitionrobotics/ign-math/pull/336)
+ 1. SemanticVersion
+ * [Pull request #331](https:/ignitionrobotics/ign-math/pull/331)
+ 1. Matrix3
+ * [Pull request #325](https:/ignitionrobotics/ign-math/pull/325)
+ 1. MovingWindowFilter
+ * [Pull request #321](https:/ignitionrobotics/ign-math/pull/321)
+ 1. Line3
+ * [Pull request #317](https:/ignitionrobotics/ign-math/pull/317)
+ 1. Quaternion
+ * [Pull request #324](https:/ignitionrobotics/ign-math/pull/324)
+ * [Pull request #361](https:/ignitionrobotics/ign-math/pull/361)
+ 1. StopWatch
+ * [Pull request #319](https:/ignitionrobotics/ign-math/pull/319)
+ 1. RollingMean
+ * [Pull request #322](https:/ignitionrobotics/ign-math/pull/322)
+ 1. Line2
+ * [Pull request #316](https:/ignitionrobotics/ign-math/pull/316)
+ 1. Color
+ * [Pull request #318](https:/ignitionrobotics/ign-math/pull/318)
+ 1. Helpers
+ * [Pull request #313](https:/ignitionrobotics/ign-math/pull/313)
+ 1. Rand (with examples)
+ * [Pull request #312](https:/ignitionrobotics/ign-math/pull/312)
+ 1. Angle
+ * [Pull request #311](https:/ignitionrobotics/ign-math/pull/311)
+ 1. Vector2, Vector3 and Vector4
+ * [Pull request #280](https:/ignitionrobotics/ign-math/pull/280)
+
+1. Fix Color::HSV() incorrect hue output
+ * [Pull request #320](https:/ignitionrobotics/ign-math/pull/320)
+
+1. Add example and modify document for class Color
+ * [Pull request #304](https:/ignitionrobotics/ign-math/pull/304)
+
+1. Document that euler angles should be in radians for quaternion constructor
+ * [Pull request #298](https:/ignitionrobotics/ign-math/pull/298)
+
+1. Fix windows warnings in Vector2, 3 and 4
+ * [Pull request #284](https:/ignitionrobotics/ign-math/pull/284)
+
+1. Modified cmake target name for Ruby interfaces
+ * [Pull request #285](https:/ignitionrobotics/ign-math/pull/285)
+
+1. Frustrum Python interface
+ * [Pull request #278](https:/ignitionrobotics/ign-math/pull/278)
+
+1. quaternion_from_euler example: input degrees
+ * [Pull request #282](https:/ignitionrobotics/ign-math/pull/282)
+
+1. Internal URL fixed (paragraph 266)
+ * [Pull request #279](https:/ignitionrobotics/ign-math/pull/279)
+
+1. Added tutorials for vector, angle, triangle and rotation
+ * [Pull request #249](https:/ignitionrobotics/ign-math/pull/249)
+
+1. Inertial Python interface
+ * [Pull request #275](https:/ignitionrobotics/ign-math/pull/275)
+
+1. Box Python interfaces
+ * [Pull request #273](https:/ignitionrobotics/ign-math/pull/273)
+
+1. DiffDriveOdometry Python interface
+ * [Pull request #265](https:/ignitionrobotics/ign-math/pull/265)
+
+1. Sphere Python interface
+ * [Pull request #277](https:/ignitionrobotics/ign-math/pull/277)
+
+1. Plane Python interfaces
+ * [Pull request #272](https:/ignitionrobotics/ign-math/pull/272)
+
+1. Cylinder Python interface
+ * [Pull request #274](https:/ignitionrobotics/ign-math/pull/274)
+
+1. Added SphericalCoordinates Python interface
+ * [Pull request #263](https:/ignitionrobotics/ign-math/pull/263)
+
+1. MassMatrix3 Python interface
+ * [Pull request #260](https:/ignitionrobotics/ign-math/pull/260)
+
+1. AxisAlignedBox Python interface
+ * [Pull request #262](https:/ignitionrobotics/ign-math/pull/262)
+
+1. AxisAlignedBox: deprecate unimplemented methods
+ * [Pull request #261](https:/ignitionrobotics/ign-math/pull/261)
+
 ## Ignition Math 6.9.2 (2021-10-14)
 
 1. Added StopWatch Python Interface

examples/CMakeLists.txt

@@ -12,6 +12,9 @@ target_link_libraries(angle_example ignition-math${IGN_MATH_VER}::ignition-math$
 add_executable(color_example color_example.cc)
 target_link_libraries(color_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 
+add_executable(diff_drive_odometry diff_drive_odometry.cc)
+target_link_libraries(diff_drive_odometry ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
+
 add_executable(gauss_markov_process gauss_markov_process_example.cc)
 target_link_libraries(gauss_markov_process ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 
@@ -21,6 +24,9 @@ target_link_libraries(graph_example ignition-math${IGN_MATH_VER}::ignition-math$
 add_executable(helpers_example helpers_example.cc)
 target_link_libraries(helpers_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 
+add_executable(kmeans kmeans.cc)
+target_link_libraries(kmeans ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
+
 add_executable(matrix3_example matrix3_example.cc)
 target_link_libraries(matrix3_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 

examples/angle_example.py

@@ -16,7 +16,7 @@
 # installed.
 #
 # Modify the PYTHONPATH environment variable to include the ignition math
-# library install path. For example, if you install to /user:
+# library install path. For example, if you install to /usr:
 #
 # $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
 #

examples/diff_drive_odometry.cc

@@ -0,0 +1,97 @@
+/*
+ * 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.
+ *
+*/
+//! [complete]
+#include <iostream>
+#include <chrono>
+
+#include <ignition/math/Angle.hh>
+#include <ignition/math/Helpers.hh>
+#include <ignition/math/DiffDriveOdometry.hh>
+
+int main(int argc, char **argv)
+{
+
+//! [Create a DiffDriveOdometry]
+ ignition::math::DiffDriveOdometry odom;
+//! [Create an DiffDriveOdometry]
+
+ double wheelSeparation = 2.0;
+ double wheelRadius = 0.5;
+ double wheelCircumference = 2 * IGN_PI * wheelRadius;
+
+ // This is the linear distance traveled per degree of wheel rotation.
+ double distPerDegree = wheelCircumference / 360.0;
+
+ // Setup the wheel parameters, and initialize
+ odom.SetWheelParams(wheelSeparation, wheelRadius, wheelRadius);
+ auto startTime = std::chrono::steady_clock::now();
+ odom.Init(startTime);
+
+ // Sleep for a little while, then update the odometry with the new wheel
+ // position.
+ std::cout << "--- Rotate both wheels by 1 degree. ---" << '\n';
+ auto time1 = startTime + std::chrono::milliseconds(100);
+ odom.Update(IGN_DTOR(1.0), IGN_DTOR(1.0), time1);
+
+ std::cout << "\tLinear velocity:\t" << distPerDegree / 0.1 << " m/s"
+ << "\n\tOdom linear velocity:\t" << odom.LinearVelocity() << " m/s"
+ << std::endl;
+
+ std::cout << "Angular velocity should be zero since the \"robot\" is traveling\n"
+ << "in a straight line:\n"
+ << "\tOdom angular velocity:\t"
+ << *odom.AngularVelocity() << " rad/s" << std::endl;
+
+ // Sleep again, this time rotate the left wheel by 1 and the right wheel by 2
+ // degrees.
+ std::cout << "--- This time rotate the left wheel by 1 and the right wheel "
+ << "by 2 degrees ---"
+ << std::endl;
+ auto time2 = time1 + std::chrono::milliseconds(100);
+ odom.Update(IGN_DTOR(2.0), IGN_DTOR(3.0), time2);
+
+ std::cout << "The heading should be the arc tangent of the linear distance\n"
+ << "traveled by the right wheel (the left wheel was stationary)\n"
+ << "divided by the wheel separation.\n"
+ << "\tHeading:\t\t" << atan2(distPerDegree, wheelSeparation) << " rad"
+ << "\n\tOdom Heading:\t\t" << *odom.Heading() << " rad" << '\n';
+
+ // The X odom reading should have increased by the sine of the heading *
+ // half the wheel separation.
+ double xDistTraveled =
+ sin(atan2(distPerDegree, wheelSeparation)) * wheelSeparation * 0.5;
+ double prevXPos = distPerDegree * 2.0;
+ std::cout << "\tX distance traveled:\t" << xDistTraveled + prevXPos << " m"
+ << "\n\tOdom X:\t\t" << odom.X() << " m" << std::endl;
+
+ // The Y odom reading should have increased by the cosine of the heading *
+ // half the wheel separation.
+ double yDistTraveled = (wheelSeparation * 0.5) -
+ cos(atan2(distPerDegree, wheelSeparation)) * wheelSeparation * 0.5;
+ double prevYPos = 0.0;
+ std::cout << "\tY distance traveled:\t" << yDistTraveled + prevYPos << " m"
+ << "\n\tOdom Y:\t\t" << odom.Y() << " m" << std::endl;
+
+ std::cout << "Angular velocity should be the difference between the x and y\n"
+ << "distance traveled divided by the wheel separation divided by\n"
+ << "the seconds elapsed.\n"
+ << "\tAngular velocity:\t"
+ << ((xDistTraveled - yDistTraveled) / wheelSeparation) / 0.1 << " rad/s"
+ << "\n\tOdom angular velocity:\t" << *odom.AngularVelocity() << " rad/s"
+ << std::endl;
+}
+//! [complete]