Added Pose3 pybind11 interface (#334)

Signed-off-by: Alejandro Hernández <[email protected]>

src/python/CMakeLists.txt

@@ -101,7 +101,6 @@ if (PYTHONLIBS_FOUND)
       OrientedBox_TEST
       PID_TEST
       Plane_TEST
-      Pose3_TEST
       python_TEST
       RotationSpline_TEST
       SignalStats_TEST

src/python_pybind11/CMakeLists.txt

@@ -82,6 +82,7 @@ if (${pybind11_FOUND})
       Line3_TEST
       Matrix3_TEST
       MovingWindowFilter_TEST
+      Pose3_TEST
       Quaternion_TEST
       Rand_TEST
       RollingMean_TEST

src/python_pybind11/src/Pose3.hh

@@ -0,0 +1,150 @@
+/*
+ * 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__POSE3_HH_
+#define IGNITION_MATH_PYTHON__POSE3_HH_
+
+#include <string>
+
+#include <pybind11/pybind11.h>
+#include <pybind11/operators.h>
+
+#include <ignition/math/Pose3.hh>
+
+namespace py = pybind11;
+using namespace pybind11::literals;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::Pose3
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+template<typename T>
+void defineMathPose3(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::Pose3<T>;
+  auto toString = [](const Class &si) {
+    std::stringstream stream;
+    stream << si;
+    return stream.str();
+  };
+  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<const ignition::math::Vector3<T>&,
+                  const ignition::math::Quaternion<T>&>())
+    .def(py::init<T, T, T, T, T, T>())
+    .def(py::init<T, T, T, T, T, T, T>())
+    .def(py::init<const Class&>())
+    .def(py::self + py::self)
+    .def(py::self += py::self)
+    .def(-py::self)
+    .def(py::self - py::self)
+    .def(py::self -= py::self)
+    .def(py::self == py::self)
+    .def(py::self != py::self)
+    .def(py::self * py::self)
+    .def(py::self *= py::self)
+    .def("set",
+         py::overload_cast<const ignition::math::Vector3<T>&,
+                           const ignition::math::Quaternion<T>&>(&Class::Set),
+         "Set the pose from a Vector3 and a Quaternion<T>")
+    .def("set",
+         py::overload_cast<const ignition::math::Vector3<T>&,
+                           const ignition::math::Vector3<T>&>(&Class::Set),
+         "Set the pose from  pos and rpy vectors")
+    .def("set",
+        py::overload_cast<T, T, T, T, T, T>(&Class::Set),
+        "Set the pose from a six tuple.")
+    .def("is_finite",
+         &Class::IsFinite,
+         "See if a pose is finite (e.g., not nan)")
+    .def("correct",
+         &Class::Correct,
+         "Fix any nan values")
+    .def("inverse",
+         &Class::Inverse,
+         "Get the inverse of this pose")
+    .def("coord_position_add",
+         py::overload_cast<const ignition::math::Vector3<T>&>(
+           &Class::CoordPositionAdd, py::const_),
+         "Add one point to a vector: result = this + pos")
+    .def("coord_position_add",
+         py::overload_cast<const Class&>(
+           &Class::CoordPositionAdd, py::const_),
+         "Add one point to another: result = this + pose")
+    .def("coord_position_sub",
+         &Class::CoordPositionSub,
+         "Subtract one position from another: result = this - pose")
+    .def("coord_rotation_add",
+         &Class::CoordRotationAdd,
+         "Add one rotation to another: result =  this->q + rot")
+    .def("coord_rotation_sub",
+         &Class::CoordRotationSub,
+         "Subtract one rotation from another: result = this->q - rot")
+    .def("coord_pose_solve",
+         &Class::CoordPoseSolve,
+         "Find the inverse of a pose; i.e., if b = this + a, given b and "
+         "this, find a")
+    .def("reset", &Class::Reset, "Reset the pose")
+    .def("rotate_position_about_origin",
+         &Class::RotatePositionAboutOrigin,
+         "Rotate vector part of a pose about the origin")
+    .def("round",
+         &Class::Round,
+         "Round all values to _precision decimal places")
+    .def("pos",
+         py::overload_cast<>(&Class::Pos, py::const_),
+         py::return_value_policy::reference,
+         "Get the position.")
+    .def("x", &Class::X, "Get the X value of the position")
+    .def("y", &Class::Y, "Get the Y value of the position")
+    .def("z", &Class::Z, "Get the Z value of the position")
+    .def("set_x", &Class::SetX, "Set the X value of the position")
+    .def("set_y", &Class::SetY, "Set the Y value of the position")
+    .def("set_z", &Class::SetZ, "Set the Z value of the position")
+    .def("rot",
+         py::overload_cast<>(&Class::Rot, py::const_),
+         py::return_value_policy::reference,
+         "Get the rotation.")
+    .def("roll", &Class::Roll, "Get the Roll value of the position")
+    .def("pitch", &Class::Pitch, "Get the Pitch value of the position")
+    .def("yaw", &Class::Yaw, "Get the Yaw value of the position")
+    .def("__copy__", [](const Class &self) {
+      return Class(self);
+    })
+    .def("__deepcopy__", [](const Class &self, py::dict) {
+      return Class(self);
+    }, "memo"_a)
+    .def_readonly_static("ZERO", &Class::Zero, "Zero matrix")
+    .def("__str__", toString)
+    .def("__repr__", toString);
+}
+}  // namespace python
+}  // namespace gazebo
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__POSE3_HH_

src/python_pybind11/src/_ignition_math_pybind11.cc

@@ -22,6 +22,7 @@
 #include "Line3.hh"
 #include "Matrix3.hh"
 #include "MovingWindowFilter.hh"
+#include "Pose3.hh"
 #include "Quaternion.hh"
 #include "Rand.hh"
 #include "RollingMean.hh"
@@ -94,6 +95,10 @@ PYBIND11_MODULE(math, m)
   ignition::math::python::defineMathQuaternion<double>(m, "Quaterniond");
   ignition::math::python::defineMathQuaternion<float>(m, "Quaternionf");
 
+  ignition::math::python::defineMathPose3<int>(m, "Pose3i");
+  ignition::math::python::defineMathPose3<double>(m, "Pose3d");
+  ignition::math::python::defineMathPose3<float>(m, "Pose3f");
+
   ignition::math::python::defineMathFilter<int>(m, "Filteri");
   ignition::math::python::defineMathFilter<float>(m, "Filterf");
   ignition::math::python::defineMathFilter<double>(m, "Filterd");

src/python/Pose3_TEST.py → src/python_pybind11/test/Pose3_TEST.py

@@ -114,7 +114,6 @@ def test_pose(self):
 
         pose.pos().set(5, 6, 7)
         pose.rot().euler(Vector3d(.4, .6, 0))
-
         self.assertTrue(pose.coord_position_add(Vector3d(1, 2, 3)) ==
                         Vector3d(7.82531, 6.67387, 9.35871))