ign -> gz Macro Migration : gz-math (#437)

Signed-off-by: methylDragon <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>

Co-authored-by: Louise Poubel <[email protected]>

Migration.md

@@ -69,6 +69,19 @@ release will remove the deprecated code.
 1. The `ignition` namespace is deprecated and will be removed in future versions.  Use `gz` instead.
 1. Header files under `ignition/...` are deprecated and will be removed in future versions.
    Use `gz/...` instead.
+1. The following `IGN_` prefixed macros are deprecated and will be removed in future versions.
+   Additionally, they will only be available when including the corresponding `ignition/...` header.
+   Use the `GZ_` prefix instead.
+   1. `IGN_RTOD`, `IGN_DTOR`
+   1. `IGN_NORMALIZE`
+   1. `IGN_PI`, `IGN_PI_2`, `IGN_PI_4`
+   1. `IGN_SQRT2`
+   1. `IGN_FP_VOLATILE`
+   1. `IGN_SPHERE_VOLUME`, `IGN_CYLINDER_VOLUME`, `IGN_BOX_VOLUME`, `IGN_BOX_VOLUME_V`
+   1. `IGN_MASSMATRIX3_DEFAULT_TOLERANCE`
+1. All `IGN_*_SIZE_T` variables are deprecated and will be removed in future versions.
+    Please use `GZ_*_SIZE_T` instead.
+
 
 ### Modifications
 

examples/diff_drive_odometry.cc

@@ -31,7 +31,7 @@ int main(int argc, char **argv)
 
   double wheelSeparation = 2.0;
   double wheelRadius = 0.5;
-  double wheelCircumference = 2 * IGN_PI * wheelRadius;
+  double wheelCircumference = 2 * GZ_PI * wheelRadius;
 
   // This is the linear distance traveled per degree of wheel rotation.
   double distPerDegree = wheelCircumference / 360.0;
@@ -45,7 +45,7 @@ int main(int argc, char **argv)
   // 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);
+  odom.Update(GZ_DTOR(1.0), GZ_DTOR(1.0), time1);
 
   std::cout << "\tLinear velocity:\t" << distPerDegree / 0.1 << " m/s"
             << "\n\tOdom linear velocity:\t" << odom.LinearVelocity() << " m/s"
@@ -62,7 +62,7 @@ int main(int argc, char **argv)
             << "by 2 degrees ---"
             << std::endl;
   auto time2 = time1 + std::chrono::milliseconds(100);
-  odom.Update(IGN_DTOR(2.0), IGN_DTOR(3.0), time2);
+  odom.Update(GZ_DTOR(2.0), GZ_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"

examples/helpers_example.cc

@@ -21,13 +21,13 @@
 int main(int argc, char **argv)
 {
   std::cout << "The volume of a sphere with r=2 is "
-    << IGN_SPHERE_VOLUME(2) << std::endl;
+    << GZ_SPHERE_VOLUME(2) << std::endl;
 
   std::cout << "The volume of a cylinder with r=4 and l=5 is "
-    << IGN_CYLINDER_VOLUME(4, 5) << std::endl;
+    << GZ_CYLINDER_VOLUME(4, 5) << std::endl;
 
   std::cout << "The volume of a box with x=1, y=2, and z=3 is "
-    << IGN_BOX_VOLUME(1, 2, 3) << std::endl;
+    << GZ_BOX_VOLUME(1, 2, 3) << std::endl;
 
   std::cout << "The result of clamping 2.4 to the range [1,2] is "
     << gz::math::clamp(2.4f, 1.0f, 2.0f) << std::endl;

examples/helpers_example.rb

@@ -22,13 +22,13 @@
 #
 require 'ignition/math'
 
-printf("The volume of a sphere with r=2 is %f.\n", IGN_SPHERE_VOLUME(2))
+printf("The volume of a sphere with r=2 is %f.\n", GZ_SPHERE_VOLUME(2))
 
 printf("The volume of a cylinder with r=4 and l=5 is %f.\n",
-       IGN_CYLINDER_VOLUME(4, 5))
+       GZ_CYLINDER_VOLUME(4, 5))
 
 printf("The volume of a box with x=1, y=2, and z=3 is %f.\n",
-   IGN_BOX_VOLUME(1, 2, 3))
+   GZ_BOX_VOLUME(1, 2, 3))
 
 printf("The result of clamping 2.4 to the range [1,2] is %f.\n",
   Gz::Math::Clamp(2.4, 1, 2))

examples/pose3_example.cc

@@ -26,8 +26,8 @@ int main(int argc, char **argv)
     << p << std::endl;
 
   // Construct a pose at position 1, 2, 3 with a yaw of PI radians.
-  gz::math::Pose3d p1(1, 2, 3, 0, 0, IGN_PI);
-  std::cout << "A pose3d(1, 2, 3, 0, 0, IGN_PI) has the following values\n"
+  gz::math::Pose3d p1(1, 2, 3, 0, 0, GZ_PI);
+  std::cout << "A pose3d(1, 2, 3, 0, 0, GZ_PI) has the following values\n"
     << p1 << std::endl;
 
   // Set the position of a pose to 10, 20, 30

examples/pose3_example.rb

@@ -30,7 +30,7 @@
 
 # Construct a pose at position 1, 2, 3 with a yaw of PI radians.
 p1 = Gz::Math::Pose3d.new(1, 2, 3, 0, 0, Math::PI)
-printf("A pose3d(1, 2, 3, 0, 0, IGN_PI) has the following values\n" +
+printf("A pose3d(1, 2, 3, 0, 0, GZ_PI) has the following values\n" +
        "%f %f %f %f %f %f\n", p1.Pos().X(), p1.Pos().Y(), p1.Pos().Z(),
        p1.Rot().Euler().X(), p1.Rot().Euler().Y(), p1.Rot().Euler().Z())
 

examples/quaternion_from_euler.cc

@@ -53,9 +53,9 @@ int main(int argc, char **argv)
     return -1;
   }
 
-  double roll = IGN_DTOR(strToDouble(argv[1]));
-  double pitch = IGN_DTOR(strToDouble(argv[2]));
-  double yaw = IGN_DTOR(strToDouble(argv[3]));
+  double roll = GZ_DTOR(strToDouble(argv[1]));
+  double pitch = GZ_DTOR(strToDouble(argv[2]));
+  double yaw = GZ_DTOR(strToDouble(argv[3]));
 
   std::cout << "Converting Euler angles:\n";
   printf(" roll  % .6f radians\n"
@@ -65,9 +65,9 @@ int main(int argc, char **argv)
   printf(" roll  % 12.6f degrees\n"
          " pitch % 12.6f degrees\n"
          " yaw   % 12.6f degrees\n",
-          IGN_RTOD(roll),
-          IGN_RTOD(pitch),
-          IGN_RTOD(yaw));
+          GZ_RTOD(roll),
+          GZ_RTOD(pitch),
+          GZ_RTOD(yaw));
 
 //![constructor]
   gz::math::Quaterniond q(roll, pitch, yaw);

examples/quaternion_to_euler.cc

@@ -87,9 +87,9 @@ int main(int argc, char **argv)
   printf(" roll  % .6f degrees\n"
          " pitch % .6f degrees\n"
          " yaw   % .6f degrees\n",
-          IGN_RTOD(euler.X()),
-          IGN_RTOD(euler.Y()),
-          IGN_RTOD(euler.Z()));
+          GZ_RTOD(euler.X()),
+          GZ_RTOD(euler.Y()),
+          GZ_RTOD(euler.Z()));
 
   std::cout << "\nto Rotation matrix\n";
   printf("   % .6f  % .6f  % .6f\n"

include/gz/math/Angle.hh

@@ -22,23 +22,23 @@
 #include <gz/math/Helpers.hh>
 #include <gz/math/config.hh>
 
-/// \def IGN_RTOD(d)
+/// \def GZ_RTOD(d)
 /// \brief Macro that converts radians to degrees
 /// \param[in] r radians
 /// \return degrees
-#define IGN_RTOD(r) ((r) * 180 / IGN_PI)
+#define GZ_RTOD(r) ((r) * 180 / GZ_PI)
 
-/// \def IGN_DTOR(d)
+/// \def GZ_DTOR(d)
 /// \brief Converts degrees to radians
 /// \param[in] d degrees
 /// \return radians
-#define IGN_DTOR(d) ((d) * IGN_PI / 180)
+#define GZ_DTOR(d) ((d) * GZ_PI / 180)
 
-/// \def IGN_NORMALIZE(a)
+/// \def GZ_NORMALIZE(a)
 /// \brief Macro that normalizes an angle in the range -Pi to Pi
 /// \param[in] a angle
 /// \return the angle, in range
-#define IGN_NORMALIZE(a) (atan2(sin(a), cos(a)))
+#define GZ_NORMALIZE(a) (atan2(sin(a), cos(a)))
 
 namespace gz
 {
@@ -66,15 +66,15 @@ namespace gz
       public: static const Angle &Zero;
 
       /// \brief An angle with a value of Pi.
-      /// Equivalent to math::Angle(IGN_PI).
+      /// Equivalent to math::Angle(GZ_PI).
       public: static const Angle &Pi;
 
       /// \brief An angle with a value of Pi * 0.5.
-      /// Equivalent to math::Angle(IGN_PI * 0.5).
+      /// Equivalent to math::Angle(GZ_PI * 0.5).
       public: static const Angle &HalfPi;
 
       /// \brief An angle with a value of Pi * 2.
-      /// Equivalent to math::Angle(IGN_PI * 2).
+      /// Equivalent to math::Angle(GZ_PI * 2).
       public: static const Angle &TwoPi;
 
       /// \brief Default constructor that initializes an Angle to zero

include/gz/math/AxisAlignedBox.hh

@@ -241,7 +241,7 @@ namespace gz
                    double &_low, double &_high) const;
 
       /// \brief Private data pointer
-      IGN_UTILS_IMPL_PTR(dataPtr)
+      GZ_UTILS_IMPL_PTR(dataPtr)
     };
     }
   }

include/gz/math/DiffDriveOdometry.hh

@@ -67,12 +67,12 @@ namespace gz
     /// // ... Some time later
     ///
     /// // Both wheels have rotated the same amount
-    /// odom.Update(IGN_DTOR(2), IGN_DTOR(2), std::chrono::steady_clock::now());
+    /// odom.Update(GZ_DTOR(2), GZ_DTOR(2), std::chrono::steady_clock::now());
     ///
     /// // ... Some time later
     ///
     /// // The left wheel has rotated, the right wheel did not rotate
-    /// odom.Update(IGN_DTOR(4), IGN_DTOR(2), std::chrono::steady_clock::now());
+    /// odom.Update(GZ_DTOR(4), GZ_DTOR(2), std::chrono::steady_clock::now());
     /// \endcode
     class GZ_MATH_VISIBLE DiffDriveOdometry
     {
@@ -131,7 +131,7 @@ namespace gz
       public: void SetVelocityRollingWindowSize(size_t _size);
 
       /// \brief Private data pointer.
-      IGN_UTILS_IMPL_PTR(dataPtr)
+      GZ_UTILS_IMPL_PTR(dataPtr)
     };
     }
   }

include/gz/math/Filter.hh

@@ -80,7 +80,7 @@ namespace gz
       // Documentation Inherited.
       public: virtual void Fc(double _fc, double _fs) override
       {
-        b1 = exp(-2.0 * IGN_PI * _fc / _fs);
+        b1 = exp(-2.0 * GZ_PI * _fc / _fs);
         a0 = 1.0 - b1;
       }
 
@@ -179,7 +179,7 @@ namespace gz
       /// \param[in] _q Q coefficient.
       public: void Fc(double _fc, double _fs, double _q)
       {
-        double k = tan(IGN_PI * _fc / _fs);
+        double k = tan(GZ_PI * _fc / _fs);
         double kQuadDenom = k * k + k / _q + 1.0;
         this->a0 = k * k/ kQuadDenom;
         this->a1 = 2 * this->a0;

include/gz/math/Frustum.hh

@@ -164,7 +164,7 @@ namespace gz
       private: void ComputePlanes();
 
       /// \brief Private data pointer
-      IGN_UTILS_IMPL_PTR(dataPtr)
+      GZ_UTILS_IMPL_PTR(dataPtr)
     };
     }
   }

include/gz/math/GaussMarkovProcess.hh

@@ -129,7 +129,7 @@ namespace gz
       public: double Update(double _dt);
 
       /// \brief Private data pointer.
-      IGN_UTILS_IMPL_PTR(dataPtr)
+      GZ_UTILS_IMPL_PTR(dataPtr)
     };
     }
   }