Merge branch 'main' into static-constexpr

Migration.md

@@ -58,6 +58,10 @@ release will remove the deprecated code.
 1. The out stream operator is guaranteed to return always plain 0 and not to
    return -0, 0.0 or other instances of zero value.
 
+## Ignition Math 6.9.2 to 6.10.0
+
+1. **Color::HSV()**: A bug related to the hue output of this function was fixed.
+
 ## Ignition Math 6.8 to 6.9
 
 1. **SphericalCoordinates**: A bug related to the LOCAL frame was fixed. To

examples/CMakeLists.txt

@@ -9,6 +9,9 @@ find_package(ignition-math${IGN_MATH_VER} REQUIRED)
 add_executable(angle_example angle_example.cc)
 target_link_libraries(angle_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 
+add_executable(color_example color_example.cc)
+target_link_libraries(color_example 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})
 
@@ -33,6 +36,9 @@ target_link_libraries(quaternion_from_euler ignition-math${IGN_MATH_VER}::igniti
 add_executable(quaternion_to_euler quaternion_to_euler.cc)
 target_link_libraries(quaternion_to_euler ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 
+add_executable(rand_example rand_example.cc)
+target_link_libraries(rand_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
+
 add_executable(temperature_example temperature_example.cc)
 target_link_libraries(temperature_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 

examples/color_example.cc

@@ -0,0 +1,57 @@
+/*
+ * 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 <ignition/math/Color.hh>
+
+int main(int argc, char **argv) 
+{
+
+//! [Create a color]
+  ignition::math::Color a = ignition::math::Color(0.3, 0.4, 0.5);
+//! [Create a color]
+  // The channel order is R, G, B, A and the default alpha value of a should be 1.0
+  std::cout << "The alpha value of a should be 1: " << a.A() << std::endl;
+
+
+//! [Set a new color value]
+  a.ignition::math::Color::Set(0.6, 0.7, 0.8, 1.0);
+//! [Set a new color value]
+  std::cout << "The RGBA value of a: " << a << std::endl;
+
+//! [Set value from BGRA]
+  // 0xFF0000FF is blue in BGRA. Convert it to RGBA.
+  ignition::math::Color::BGRA blue = 0xFF0000FF;
+  a.ignition::math::Color::SetFromBGRA(blue);
+//! [Set value from BGRA]
+
+//! [Math operator]
+  std::cout << "Check if a is Blue: " << (a == ignition::math::Color::Blue) << std::endl;
+  std::cout << "The RGB value of a should be (0, 0, 1): " << a[0] << ", " 
+                                                          << a[1] << ", " 
+                                                          << a[2] << std::endl;
+//! [Math operator]
+
+//! [Set value from HSV]
+  // Initialize with HSV. (240, 1.0, 1.0) is blue in HSV.
+  a.ignition::math::Color::SetFromHSV(240.0, 1.0, 1.0);
+  std::cout << "The HSV value of a: " << a.HSV() << std::endl;
+  std::cout << "The RGBA value of a should be (0, 0, 1, 1): " << a << std::endl;
+//! [Set value from HSV]
+
+}
+//! [complete]

examples/quaternion_from_euler.cc

@@ -44,7 +44,7 @@ int main(int argc, char **argv)
   if (argc != 4)
   {
     std::cerr << "Invalid usage\n\n"
-              << "Usage (angles specified in radians):\n"
+              << "Usage (angles specified in degrees):\n"
               << "  quaternion_from_euler "
               << "<float_roll> <float_pitch> <float_yaw>\n\n"
               << "Example\n"
@@ -53,9 +53,9 @@ int main(int argc, char **argv)
     return -1;
   }
 
-  double roll = strToDouble(argv[1]);
-  double pitch = strToDouble(argv[2]);
-  double yaw = strToDouble(argv[3]);
+  double roll = IGN_DTOR(strToDouble(argv[1]));
+  double pitch = IGN_DTOR(strToDouble(argv[2]));
+  double yaw = IGN_DTOR(strToDouble(argv[3]));
 
   std::cout << "Converting Euler angles:\n";
   printf(" roll  % .6f radians\n"

examples/rand_example.cc

@@ -0,0 +1,54 @@
+/*
+ * 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 <ignition/math/Rand.hh>
+
+// You can plot the data generated by this program by following these
+// steps.
+//
+// 1. Run this program and save the output to a file:
+//     ./rand_example normal > normal.data
+//     ./rand_example uniform > uniform.data
+//
+// 2. Use gnuplot to create a plot:
+//     gnuplot -c rand_view_normal.gp > normal.jpg
+//     gnuplot -c rand_view_uniform.gp > uniform.jpg
+int main(int argc, char **argv)
+{
+  if (argc < 2)
+  {
+    std::cout << "./rand_example [normal, uniform]" << '\n';
+    return -1;
+  }
+  for (int i = 0; i < 100000; ++i)
+  {
+    double value;
+    if (std::string(argv[1]) == "normal")
+    {
+      value = ignition::math::Rand::DblNormal(0, 100);
+    }
+    else if (std::string(argv[1]) == "uniform")
+    {
+      value = ignition::math::Rand::DblUniform(0, 1000);
+    }
+    std::cout << value << std::endl;
+  }
+
+  return 0;
+}
+//! [complete]

examples/rand_example.py

@@ -0,0 +1,37 @@
+# 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.
+
+# You can plot the data generated by this program by following these
+# steps.
+#
+# 1. Run this program and save the output to a file:
+#     ./rand_example normal > normal.data
+#     ./rand_example uniform > uniform.data
+#
+# 2. Use gnuplot to create a plot:
+#     gnuplot -c rand_view_normal.gp > normal.jpg
+#     gnuplot -c rand_view_uniform.gp > uniform.jpg
+from ignition.math import Rand
+import sys
+
+if (len(sys.argv) < 2):
+    print("python rand_example [normal, uniform]")
+else:
+    for i in range(100000):
+        value = 0
+        if (sys.argv[1] == "uniform"):
+            value = Rand.dbl_uniform(0, 1000);
+        elif (sys.argv[1] == "normal"):
+            value = Rand.dbl_normal(0, 100);
+        print(value)

examples/rand_view_normal.gp

@@ -0,0 +1,12 @@
+set terminal jpeg
+binwidth = 5
+bin(x,width)=width*floor(x/width)
+
+set tics out nomirror
+set style fill transparent solid 0.5 border lt -1
+set xrange [-1000:1000]
+set xtics binwidth
+set boxwidth binwidth
+set yrange [0:2500]
+
+plot "normal.data" u (bin($1,binwidth)):(1.0) smooth freq with boxes notitle

examples/rand_view_uniform.gp

@@ -0,0 +1,12 @@
+set terminal jpeg
+binwidth = 50
+bin(x,width)=width*floor(x/width)
+
+set tics out nomirror
+set style fill transparent solid 0.5 border lt -1
+set xrange [0:1000]
+set xtics binwidth
+set boxwidth binwidth
+set yrange [0:10000]
+
+plot "uniform.data" u (bin($1,binwidth)):(1.0) smooth freq with boxes notitle

include/ignition/math/AxisAlignedBox.hh

@@ -229,7 +229,9 @@ namespace ignition
       /// greater than zero.
       /// \return Density of the cylinder in kg/m^3. A negative value is
       /// returned if radius, length or _mass is <= 0.
-      public: double DensityFromMass(const double _mass) const;
+      /// \deprecated Unimplemented
+      public: double IGN_DEPRECATED(6.0) DensityFromMass(
+        const double _mass) const;
 
       /// \brief Set the density of this box based on a mass value.
       /// Density is computed using
@@ -243,15 +245,21 @@ namespace ignition
       /// \return True if the density was set. False is returned if the
       /// box's size or the _mass value are <= 0.
       /// \sa double DensityFromMass(const double _mass) const
-      public: bool SetDensityFromMass(const double _mass);
+      /// \deprecated Unimplemented
+      public: bool IGN_DEPRECATED(6.0) SetDensityFromMass(
+        const double _mass);
 
       /// \brief Get the material associated with this box.
       /// \return The material assigned to this box.
-      public: const ignition::math::Material &Material() const;
+      /// \deprecated Unimplemented
+      public: const ignition::math::Material IGN_DEPRECATED(6.0)
+        &Material() const;
 
       /// \brief Set the material associated with this box.
       /// \param[in] _mat The material assigned to this box
-      public: void SetMaterial(const ignition::math::Material &_mat);
+      /// \deprecated Unimplemented
+      public: void IGN_DEPRECATED(6.0) SetMaterial(
+        const ignition::math::Material &_mat);
 
       /// \brief Get the mass matrix for this box. This function
       /// is only meaningful if the box's size and material
@@ -260,7 +268,9 @@ namespace ignition
       /// here.
       /// \return False if computation of the mass matrix failed, which
       /// could be due to an invalid size (<=0) or density (<=0).
-      public: bool MassMatrix(MassMatrix3d &_massMat) const;
+      /// \deprecated Unimplemented
+      public: bool IGN_DEPRECATED(6.0) MassMatrix(
+        MassMatrix3d &_massMat) const;
 
       /// \brief Clip a line to a dimension of the box.
       /// This is a helper function to Intersects

include/ignition/math/Color.hh

@@ -35,6 +35,10 @@ namespace ignition
     /// \class Color Color.hh ignition/math/Color.hh
     /// \brief Defines a color using a red (R), green (G), blue (B), and alpha
     /// (A) component. Each color component is in the range [0..1].
+    ///
+    /// ## Example
+    ///
+    /// \snippet examples/color_example.cc complete
     class IGNITION_MATH_VISIBLE Color
     {
       /// \brief (1, 1, 1)
@@ -56,18 +60,38 @@ namespace ignition
 
       /// \typedef RGBA
       /// \brief A RGBA packed value as an unsigned int
+      /// Each 8 bits corresponds to a channel.
+      ///
+      /// \code
+      /// RGBA a = 0xFF0000FF; // (1, 0, 0, 1) for RGBA, i.e. red.
+      /// \endcode
       public: typedef unsigned int RGBA;
 
       /// \typedef BGRA
       /// \brief A BGRA packed value as an unsigned int
+      /// Each 8 bits corresponds to a channel.
+      ///
+      /// \code
+      /// BGRA a = 0xFF0000FF; // (0, 0, 1, 1) for RGBA, i.e. blue.
+      /// \endcode
       public: typedef unsigned int BGRA;
 
       /// \typedef ARGB
       /// \brief A ARGB packed value as an unsigned int
+      /// Each 8 bits corresponds to a channel.
+      ///
+      /// \code
+      /// ARGB a = 0xFF0000FF; // (0, 0, 1, 1) for RGBA, i.e. blue.
+      /// \endcode
       public: typedef unsigned int ARGB;
 
       /// \typedef ABGR
       /// \brief A ABGR packed value as an unsigned int
+      /// Each 8 bits corresponds to a channel.
+      ///
+      /// \code
+      /// ABGR a = 0xFF0000FF; // (1, 0, 0, 1) for RGBA, i.e. red.
+      /// \endcode
       public: typedef unsigned int ABGR;
 
       /// \brief Constructor

include/ignition/math/Vector2.hh

@@ -18,6 +18,7 @@
 #define IGNITION_MATH_VECTOR2_HH_
 
 #include <algorithm>
+#include <cmath>
 #include <istream>
 #include <limits>
 #include <ostream>
@@ -102,7 +103,7 @@ namespace ignition
       /// \brief Normalize the vector length
       public: void Normalize()
       {
-        double d = this->Length();
+        T d = this->Length();
 
         if (!equal<T>(d, static_cast<T>(0.0)))
         {

include/ignition/math/Vector3.hh

@@ -228,7 +228,7 @@ namespace ignition
       /// \return an orthogonal vector
       public: Vector3 Perpendicular() const
       {
-        static const T sqrZero = 1e-06 * 1e-06;
+        static const T sqrZero = static_cast<T>(1e-06 * 1e-06);
 
         Vector3<T> perp = this->Cross(Vector3(1, 0, 0));
 

include/ignition/math/Vector4.hh

@@ -18,6 +18,7 @@
 #define IGNITION_MATH_VECTOR4_HH_
 
 #include <algorithm>
+#include <cmath>
 #include <limits>
 
 #include <ignition/math/Matrix4.hh>

src/Color.cc

@@ -142,7 +142,7 @@ Vector3f Color::HSV() const
 
   if (equal(delta, 0.0f))
   {
-    hsv.X() = -1;
+    hsv.X() = 0.0;
     hsv.Y() = 0.0;
   }
   else if (equal(this->r, min))
@@ -152,6 +152,7 @@ Vector3f Color::HSV() const
   else
     hsv.X() = 1 - ((this->r - this->g) / delta);
 
+  hsv.X() *= 60.0;
   return hsv;
 }