Added Plane Python interface (#941)

Signed-off-by: ahcorde <[email protected]>

* Fix typo in documentation: _normal -> normal

Signed-off-by: Steve Peters <[email protected]>
Co-authored-by: Steve Peters <[email protected]>

include/sdf/Plane.hh

@@ -52,7 +52,7 @@ namespace sdf
     /// \return The plane normal vector.
     public: ignition::math::Vector3d Normal() const;
 
-    /// \brief Set the plane normal vector. The _normal vector will be
+    /// \brief Set the plane normal vector. The normal vector will be
     /// normalized. See ignition::math::Vector3d Normal() for more information
     /// about the normal vector, such as the frame in which it is specified.
     /// \param[in] _normal The plane normal vector.

python/CMakeLists.txt

@@ -42,6 +42,7 @@ pybind11_add_module(sdformat SHARED
   src/sdf/pyError.cc
   src/sdf/pyMesh.cc
   src/sdf/pyParserConfig.cc
+  src/sdf/pyPlane.cc
   src/sdf/pySphere.cc
   src/sdf/pySurface.cc
 )
@@ -67,6 +68,7 @@ if (BUILD_TESTING)
     pyError_TEST
     pyMesh_TEST
     pyParserConfig_TEST
+    pyPlane_TEST
     pySphere_TEST
     pySurface_TEST
   )

python/src/sdf/_ignition_sdformat_pybind11.cc

@@ -20,6 +20,7 @@
 #include "pyError.hh"
 #include "pyMesh.hh"
 #include "pyParserConfig.hh"
+#include "pyPlane.hh"
 #include "pySphere.hh"
 #include "pySurface.hh"
 
@@ -31,6 +32,7 @@ PYBIND11_MODULE(sdformat, m) {
   sdf::python::defineError(m);
   sdf::python::defineMesh(m);
   sdf::python::defineParserConfig(m);
+  sdf::python::definePlane(m);
   sdf::python::defineSphere(m);
   sdf::python::defineSurface(m);
 }

python/src/sdf/pyPlane.cc

@@ -0,0 +1,63 @@
+/*
+ * Copyright (C) 2022 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 "pyPlane.hh"
+
+#include <pybind11/pybind11.h>
+
+#include "sdf/Plane.hh"
+
+using namespace pybind11::literals;
+
+namespace sdf
+{
+// Inline bracket to help doxygen filtering.
+inline namespace SDF_VERSION_NAMESPACE {
+namespace python
+{
+/////////////////////////////////////////////////
+void definePlane(pybind11::object module)
+{
+  pybind11::class_<sdf::Plane>(module, "Plane")
+    .def(pybind11::init<>())
+    .def(pybind11::init<sdf::Plane>())
+    .def("size", &sdf::Plane::Size,
+         "Get the plane size in meters.")
+    .def("set_size", &sdf::Plane::SetSize,
+         "Set the plane size in meters.")
+    .def("normal", &sdf::Plane::Normal,
+          "Get the plane normal vector. When a Plane is used as a geometry "
+          "for a Visual or Collision object, then the normal is specified in "
+          "the Visual or Collision frame, respectively.")
+    .def("set_normal", &sdf::Plane::SetNormal,
+          "Set the plane normal vector. The normal vector will be "
+          "normalized. See ignition::math::Vector3d Normal() for more "
+          "information about the normal vector, such as the frame in which it "
+          "is specified.")
+    .def(
+        "shape",
+        pybind11::overload_cast<>(&sdf::Plane::Shape, pybind11::const_),
+        pybind11::return_value_policy::reference,
+        "Get a mutable Ignition Math representation of this Plane.")
+    .def("__copy__", [](const sdf::Plane &self) {
+      return sdf::Plane(self);
+    })
+    .def("__deepcopy__", [](const sdf::Plane &self, pybind11::dict) {
+      return sdf::Plane(self);
+    }, "memo"_a);
+}
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf

python/src/sdf/pyPlane.hh

@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2022 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 SDFORMAT_PYTHON_PLANE_HH_
+#define SDFORMAT_PYTHON_PLANE_HH_
+
+#include <pybind11/pybind11.h>
+
+#include "sdf/Plane.hh"
+
+#include "sdf/config.hh"
+
+namespace sdf
+{
+// Inline bracket to help doxygen filtering.
+inline namespace SDF_VERSION_NAMESPACE {
+namespace python
+{
+/// Define a pybind11 wrapper for an sdf::Plane
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void definePlane(pybind11::object module);
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf
+
+#endif  // SDFORMAT_PYTHON_PLANE_HH_

python/test/pyPlane_TEST.py

@@ -0,0 +1,89 @@
+# Copyright (C) 2022 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.
+
+import copy
+from sdformat import Plane
+from ignition.math import Vector3d, Vector2d, Planed
+import unittest
+
+
+class PlaneTEST(unittest.TestCase):
+
+  def test_default_construction(self):
+    plane = Plane()
+
+    self.assertEqual(Vector3d.UNIT_Z, plane.normal())
+    self.assertEqual(Vector2d.ONE, plane.size())
+
+    plane.set_normal(Vector3d(1, 0, 0))
+    self.assertEqual(Vector3d.UNIT_X, plane.normal())
+
+    plane.set_normal(Vector3d(1, 0, 1))
+    self.assertEqual(Vector3d(0.707107, 0, 0.707107), plane.normal())
+
+    plane.set_size(Vector2d(1.2, 3.4))
+    self.assertEqual(Vector2d(1.2, 3.4), plane.size())
+
+
+  def test_assigment(self):
+    plane = Plane()
+    plane.set_normal(Vector3d(1, 0, 0))
+    plane.set_size(Vector2d(1.2, 3.4))
+
+    plane2 = plane
+    self.assertEqual(Vector3d.UNIT_X, plane2.normal())
+    self.assertEqual(Vector2d(1.2, 3.4), plane2.size())
+
+    self.assertEqual(Vector3d.UNIT_X, plane2.shape().normal())
+    self.assertEqual(Vector2d(1.2, 3.4), plane2.shape().size())
+
+    plane.set_normal(Vector3d(0, 1, 0))
+    plane.set_size(Vector2d(3.3, 2.4))
+
+    self.assertEqual(Vector3d(0, 1, 0), plane2.normal())
+    self.assertEqual(Vector2d(3.3, 2.4), plane2.size())
+
+    self.assertEqual(Vector3d(0, 1, 0), plane.normal())
+    self.assertEqual(Vector2d(3.3, 2.4), plane.size())
+
+  def test_deepcopy_construction(self):
+    plane = Plane()
+    plane.set_normal(Vector3d(1, 0, 0))
+    plane.set_size(Vector2d(1.2, 3.4))
+
+    plane2 = copy.deepcopy(plane)
+    self.assertEqual(Vector3d.UNIT_X, plane2.normal())
+    self.assertEqual(Vector2d(1.2, 3.4), plane2.size())
+
+    plane.set_normal(Vector3d(0, 1, 0))
+    plane.set_size(Vector2d(2.1, 4.3))
+
+    self.assertEqual(Vector3d.UNIT_X, plane2.normal())
+    self.assertEqual(Vector2d(1.2, 3.4), plane2.size())
+    self.assertEqual(Vector2d(2.1, 4.3), plane.size())
+    self.assertEqual(Vector3d(0, 1, 0), plane.normal())
+
+
+  def test_shape(self):
+
+    plane = Plane()
+    self.assertEqual(Vector2d.ONE, plane.size())
+
+    plane.shape().set(plane.shape().normal(), Vector2d(1, 2),
+      plane.shape().offset())
+    self.assertEqual(Vector2d(1, 2), plane.size())
+
+
+if __name__ == '__main__':
+    unittest.main()