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Add GaussMarkovProcess pybind11 interface and examples (#315)
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Signed-off-by: ahcorde <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>

Co-authored-by: Louise Poubel <[email protected]>
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ahcorde and chapulina authored Dec 28, 2021
1 parent 9085401 commit 7717f49
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44 changes: 44 additions & 0 deletions examples/gauss_markov_process_example.py
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# 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.

# Modify the PYTHONPATH environment variable to include the ignition math
# library install path. For example, if you install to /usr:
#
# $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
#
# You can plot the data generated by this program by following these
# steps.
#
# 1. Run this program and save the output to a file:
# python3 gauss_markov_process_example.py > plot.data
#
# 2. Use gnuplot to create a plot:
# gnuplot -e 'set terminal jpeg; plot "plot.data" with lines' > out.jpg
import datetime
from ignition.math import GaussMarkovProcess

# Create the process with:
# * Start value of 20.2
# * Theta (rate at which the process should approach the mean) of 0.1
# * Mu (mean value) 0.
# * Sigma (volatility) of 0.5.
gmp = GaussMarkovProcess(20.2, 0.1, 0, 0.5);

dt = datetime.timedelta(milliseconds=100)

# This process should decrease toward the mean value of 0.
# With noise of 0.5, the process will walk a bit.
for i in range(1000):
value = gmp.update(dt);
print(value);
42 changes: 42 additions & 0 deletions examples/gauss_markov_process_example.rb
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# 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.

# Modify the RUBYLIB environment variable to include the ignition math
# library install path. For example, if you install to /user:
#
# $ export RUBYLIB=/usr/lib/ruby:$RUBYLIB
#
# You can plot the data generated by this program by following these
# steps.
#
# 1. Run this program and save the output to a file:
# ruby gauss_markov_process_example.rb > plot.data
#
# 2. Use gnuplot to create a plot:
# gnuplot -e 'set terminal jpeg; plot "plot.data" with lines' > out.jpg
require 'ignition/math'

# Create the process with:
# * Start value of 20.2
# * Theta (rate at which the process should approach the mean) of 0.1
# * Mu (mean value) 0.
# * Sigma (volatility) of 0.5.
gmp = Ignition::Math::GaussMarkovProcess.new(20.2, 0.1, 0, 0.5);

# This process should decrease toward the mean value of 0.
# With noise of 0.5, the process will walk a bit.
for i in 0..1000 do
value = gmp.Update(0.1);
puts(value);
end
1 change: 0 additions & 1 deletion src/python/CMakeLists.txt
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Expand Up @@ -92,7 +92,6 @@ if (PYTHONLIBS_FOUND)
Cylinder_TEST
DiffDriveOdometry_TEST
Frustum_TEST
GaussMarkovProcess_TEST
Inertial_TEST
MassMatrix3_TEST
Matrix4_TEST
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2 changes: 2 additions & 0 deletions src/python_pybind11/CMakeLists.txt
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Expand Up @@ -16,6 +16,7 @@ if (${pybind11_FOUND})
src/_ignition_math_pybind11.cc
src/Angle.cc
src/Color.cc
src/GaussMarkovProcess.cc
src/Helpers.cc
src/Kmeans.cc
src/Material.cc
Expand Down Expand Up @@ -80,6 +81,7 @@ if (${pybind11_FOUND})
Angle_TEST
Color_TEST
Filter_TEST
GaussMarkovProcess_TEST
Helpers_TEST
Kmeans_TEST
Line2_TEST
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73 changes: 73 additions & 0 deletions src/python_pybind11/src/GaussMarkovProcess.cc
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/*
* 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.
*
*/

#include <chrono>
#include <string>

#include <pybind11/pybind11.h>
#include <pybind11/operators.h>
#include <pybind11/chrono.h>

#include <ignition/math/GaussMarkovProcess.hh>

#include "GaussMarkovProcess.hh"

namespace py = pybind11;

namespace ignition
{
namespace math
{
namespace python
{
void defineMathGaussMarkovProcess(
py::module &m, const std::string &typestr)
{
using Class = ignition::math::GaussMarkovProcess;
std::string pyclass_name = typestr;
py::class_<Class>(m,
pyclass_name.c_str(),
py::buffer_protocol(),
py::dynamic_attr())
.def(py::init<>())
.def(py::init<double, double, double, double>())
.def("set",
&Class::Set,
"Set the process parameters. This will also call Reset().")
.def("start", &Class::Start,
"Get the start value.")
.def("value",
&Class::Value,
"Get the current process value.")
.def("theta", &Class::Theta, "Get the theta value.")
.def("mu", &Class::Mu, "Get the mu value.")
.def("sigma", &Class::Sigma, "Get the sigma value.")
.def("reset",
&Class::Reset,
"Reset the process. This will set the current process value")
.def("update",
py::overload_cast<
const std::chrono::steady_clock::duration&>(
&Class::Update),
"Update the process and get the new value.")
.def("update",
py::overload_cast<double>(&Class::Update),
"Update the process and get the new value.");
}
} // namespace python
} // namespace math
} // namespace ignition
43 changes: 43 additions & 0 deletions src/python_pybind11/src/GaussMarkovProcess.hh
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/*
* 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.
*
*/

#ifndef IGNITION_MATH_PYTHON__GAUSSMARKOVPROCESS_HH_
#define IGNITION_MATH_PYTHON__GAUSSMARKOVPROCESS_HH_

#include <string>

#include <pybind11/pybind11.h>

namespace py = pybind11;

namespace ignition
{
namespace math
{
namespace python
{
/// Define a pybind11 wrapper for an ignition::math::GaussMarkovProcess
/**
* \param[in] module a pybind11 module to add the definition to
* \param[in] typestr name of the type used by Python
*/
void defineMathGaussMarkovProcess(py::module &m, const std::string &typestr);
} // namespace python
} // namespace math
} // namespace ignition

#endif // IGNITION_MATH_PYTHON__GAUSSMARKOVPROCESS_HH_
4 changes: 4 additions & 0 deletions src/python_pybind11/src/_ignition_math_pybind11.cc
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Expand Up @@ -17,6 +17,7 @@
#include "Angle.hh"
#include "Color.hh"
#include "Filter.hh"
#include "GaussMarkovProcess.hh"
#include "Helpers.hh"
#include "Kmeans.hh"
#include "Line2.hh"
Expand Down Expand Up @@ -48,6 +49,9 @@ PYBIND11_MODULE(math, m)

ignition::math::python::defineMathColor(m, "Color");

ignition::math::python::defineMathGaussMarkovProcess(
m, "GaussMarkovProcess");

ignition::math::python::defineMathHelpers(m);

ignition::math::python::defineMathKmeans(m, "Kmeans");
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