Merge branch 'ign-math6' into LolaSegura/python_interface

src/python/CMakeLists.txt

@@ -65,9 +65,11 @@ if (PYTHONLIBS_FOUND)
       GaussMarkovProcess_TEST
       Line2_TEST
       Line3_TEST
+      PID_TEST
       python_TEST
       Rand_TEST
       RollingMean_TEST
+      SemanticVersion_TEST
       SignalStats_TEST
       Spline_TEST
       Temperature_TEST

src/python/PID.i

@@ -0,0 +1,88 @@
+/*
+ * 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 pid 
+%{
+	#include <ignition/math/PID.hh>
+%}
+
+%include "typemaps.i"
+%apply double *OUTPUT { double &_pe, double &_ie, double &_de };
+
+namespace ignition
+{
+  namespace math
+  {
+    class PID
+    {
+      %rename("%(undercase)s", %$isfunction, %$ismember, %$not %$isconstructor) "";
+      public: PID(const double _p = 0.0,
+                  const double _i = 0.0,
+                  const double _d = 0.0,
+                  const double _imax = -1.0,
+                  const double _imin = 0.0,
+                  const double _cmdMax = -1.0,
+                  const double _cmdMin = 0.0,
+                  const double _cmdOffset = 0.0);
+      public: PID(const PID& pid) = default;
+      public: ~PID() = default;
+      public: void Init(const double _p = 0.0,
+                        const double _i = 0.0,
+                        const double _d = 0.0,
+                        const double _imax = -1.0,
+                        const double _imin = 0.0,
+                        const double _cmdMax = -1.0,
+                        const double _cmdMin = 0.0,
+                        const double _cmdOffset = 0.0);
+      %rename(set_p_gain) SetPGain;
+      public: void SetPGain(const double _p);
+      %rename(set_i_gain) SetIGain;
+      public: void SetIGain(const double _i);
+      %rename(set_d_gain) SetDGain;
+      public: void SetDGain(const double _d);
+      %rename(set_i_max) SetIMax;
+      public: void SetIMax(const double _i);
+      %rename(set_i_min) SetIMin;
+      public: void SetIMin(const double _i);
+      public: void SetCmdMax(const double _c);
+      public: void SetCmdMin(const double _c);
+      public: void SetCmdOffset(const double _c);
+      %rename(p_gain) PGain;
+      public: double PGain() const;
+      %rename(i_gain) IGain;
+      public: double IGain() const;
+      %rename(d_gain) DGain;
+      public: double DGain() const;
+      %rename(i_max) IMax;
+      public: double IMax() const;
+      %rename(i_min) IMin;
+      public: double IMin() const;
+      public: double CmdMax() const;
+      public: double CmdMin() const;
+      public: double CmdOffset() const;
+      public: void SetCmd(const double _cmd);
+      public: double Cmd() const;
+      public: void Errors(double &_pe, double &_ie, double &_de) const;
+      public: void Reset();
+    };
+
+    %extend PID {
+      double Update(const double error, const double dt) {
+        return (*$self).Update(error, std::chrono::duration<double>(dt));
+      }
+    }
+  }
+}