Adds Line2, Line3, SignalStats, Temperature python interface

include/ignition/math/Line2.hh

@@ -110,7 +110,7 @@ namespace ignition
                              double _epsilon = 1e-6) const
       {
         return math::equal(this->CrossProduct(_pt),
-            static_cast<T>(0), _epsilon);
+            0., _epsilon);
       }
 
       /// \brief Check if the given line is parallel with this line.
@@ -124,7 +124,7 @@ namespace ignition
                             double _epsilon = 1e-6) const
       {
         return math::equal(this->CrossProduct(_line),
-            static_cast<T>(0), _epsilon);
+            0., _epsilon);
       }
 
       /// \brief Check if the given line is collinear with this line. This

src/python/CMakeLists.txt

@@ -58,9 +58,9 @@ if (PYTHONLIBS_FOUND)
 
   # Suppress warnings on SWIG-generated files
   target_compile_options(${SWIG_PY_LIB} PRIVATE
-    $<$<CXX_COMPILER_ID:GNU>:-Wno-pedantic -Wno-shadow -Wno-maybe-uninitialized -Wno-unused-parameter -Wno-cast-function-type -Wno-missing-field-initializers>
-    $<$<CXX_COMPILER_ID:Clang>:-Wno-shadow -Wno-maybe-uninitialized -Wno-unused-parameter -Wno-cast-function-type -Wno-missing-field-initializers>
-    $<$<CXX_COMPILER_ID:AppleClang>:-Wno-shadow -Wno-maybe-uninitialized -Wno-unused-parameter -Wno-cast-function-type -Wno-missing-field-initializers>
+    $<$<CXX_COMPILER_ID:GNU>:-Wno-pedantic -Wno-shadow -Wno-maybe-uninitialized -Wno-unused-parameter -Wno-cast-function-type -Wno-missing-field-initializers -Wno-class-memaccess>
+    $<$<CXX_COMPILER_ID:Clang>:-Wno-shadow -Wno-maybe-uninitialized -Wno-unused-parameter -Wno-cast-function-type -Wno-missing-field-initializers -Wno-class-memaccess>
+    $<$<CXX_COMPILER_ID:AppleClang>:-Wno-shadow -Wno-maybe-uninitialized -Wno-unused-parameter -Wno-cast-function-type -Wno-missing-field-initializers -Wno-class-memaccess>
   )
   install(TARGETS ${SWIG_PY_LIB} DESTINATION ${IGN_LIB_INSTALL_DIR}/python/ignition)
   install(FILES ${CMAKE_BINARY_DIR}/lib/python/math.py DESTINATION ${IGN_LIB_INSTALL_DIR}/python/ignition)
@@ -70,11 +70,15 @@ if (PYTHONLIBS_FOUND)
     set(python_tests
       Angle_TEST
       GaussMarkovProcess_TEST
+      Line2_TEST
+      Line3_TEST
       python_TEST
       Rand_TEST
+      SignalStats_TEST
       Vector2_TEST
       Vector3_TEST
       Vector4_TEST
+      Temperature_TEST
     )
 
     foreach (test ${python_tests})

src/python/Line2.i

@@ -0,0 +1,83 @@
+/*
+ * 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 line2
+%{
+#include <ignition/math/Line2.hh>
+#include <ignition/math/Vector2.hh>
+#include <ignition/math/Helpers.hh>
+%}
+
+%include "std_string.i"
+
+namespace ignition
+{
+  namespace math
+  {
+    template<typename T>
+    class Line2
+    {
+      %rename("%(undercase)s", %$isfunction, %$ismember, %$not %$isconstructor) "";
+      public: Line2(const math::Vector2<T> &_ptA, const math::Vector2<T> &_ptB);
+      public: Line2(double _x1, double _y1, double _x2, double _y2);
+      public: void Set(const math::Vector2<T> &_ptA,
+                       const math::Vector2<T> &_ptB);
+      public: void Set(double _x1, double _y1, double _x2, double _y2);
+      public: double CrossProduct(const Line2<T> &_line) const;
+      public: double CrossProduct(const Vector2<T> &_pt) const;
+      public: bool Collinear(const math::Vector2<T> &_pt,
+                             double _epsilon = 1e-6) const;
+      public: bool Parallel(const math::Line2<T> &_line,
+                            double _epsilon = 1e-6) const;
+      public: bool Collinear(const math::Line2<T> &_line,
+                             double _epsilon = 1e-6) const;
+      public: bool OnSegment(const math::Vector2<T> &_pt,
+                             double _epsilon = 1e-6) const;
+      public: bool Within(const math::Vector2<T> &_pt,
+                          double _epsilon = 1e-6) const;
+      public: bool Intersect(const Line2<T> &_line,
+                             double _epsilon = 1e-6) const;
+      public: bool Intersect(const Line2<T> &_line, math::Vector2<T> &_pt,
+                             double _epsilon = 1e-6) const;
+      public: T Length() const;
+      public: double Slope() const;
+      public: bool operator==(const Line2<T> &_line) const;
+      public: bool operator!=(const Line2<T> &_line) const;
+    };
+
+    %extend Line2
+    {
+      ignition::math::Vector2<T> __getitem__(unsigned int i) const
+      {
+        return (*$self)[i];
+      }
+    }
+
+    %extend Line2 
+    {
+      std::string __str__() const {
+        std::ostringstream out;
+        out << *$self;
+        return out.str();
+      }
+    }
+
+    %template(Line2i) Line2<int>;
+    %template(Line2d) Line2<double>;
+    %template(Line2f) Line2<float>;
+  }
+}

src/python/Line2_TEST.py

@@ -0,0 +1,215 @@
+# 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.
+
+import unittest
+import math
+from ignition.math import Line2d
+from ignition.math import Vector2d
+
+
+class TestLine2d(unittest.TestCase):
+
+    def test_construction(self):
+        lineA = Line2d(0, 0, 10, 10)
+        self.assertAlmostEqual(lineA[0].x(), 0.0)
+        self.assertAlmostEqual(lineA[0].y(), 0.0)
+        self.assertAlmostEqual(lineA[1].x(), 10.0)
+        self.assertAlmostEqual(lineA[1].y(), 10.0)
+
+        lineB = Line2d(Vector2d(1, 2), Vector2d(3, 4))
+        self.assertAlmostEqual(lineB[0].x(), 1.0)
+        self.assertAlmostEqual(lineB[0].y(), 2.0)
+        self.assertAlmostEqual(lineB[1].x(), 3.0)
+        self.assertAlmostEqual(lineB[1].y(), 4.0)
+
+        self.assertAlmostEqual(lineB[2].x(), lineB[1].x())
+
+    def test_length(self):
+        lineA = Line2d(0, 0, 10, 10)
+        self.assertAlmostEqual(lineA.length(), math.sqrt(200), delta=1e-10)
+
+    def test_slope(self):
+        line = Line2d(0, 0, 10, 10)
+        self.assertAlmostEqual(line.slope(), 1.0, delta=1e-10)
+
+        line = Line2d(0, 0, 0, 10)
+        self.assertTrue(math.isnan(line.slope()))
+
+        line = Line2d(-10, 0, 100, 0)
+        self.assertAlmostEqual(line.slope(), 0.0)
+
+    def test_parallel_line(self):
+        # Line is always parallel with itself
+        line = Line2d(0, 0, 10, 0)
+        self.assertTrue(line.parallel(line, 1e-10))
+
+        # Degenerate line segment
+        # Still expect Line is parallel with itself
+        line = Line2d(0, 0, 0, 0)
+        self.assertTrue(line.parallel(line, 1e-10))
+
+        lineA = Line2d(0, 0, 10, 0)
+        lineB = Line2d(0, 0, 10, 0)
+        self.assertTrue(lineA.parallel(lineB, 1e-10))
+
+        lineB.set(0, 0, 0, 10)
+        self.assertFalse(lineA.parallel(lineB))
+
+        lineB.set(0, 10, 10, 10)
+        self.assertTrue(lineA.parallel(lineB))
+
+        lineB.set(0, 10, 10, 10.00001)
+        self.assertFalse(lineA.parallel(lineB, 1e-10))
+        self.assertFalse(lineA.parallel(lineB))
+        self.assertTrue(lineA.parallel(lineB, 1e-3))
+
+    def test_collinear_line(self):
+        # Line is always collinear with itself
+        line = Line2d(0, 0, 10, 0)
+        self.assertTrue(line.collinear(line, 1e-10))
+
+        lineA = Line2d(0, 0, 10, 0)
+        lineB = Line2d(0, 0, 10, 0)
+        self.assertTrue(lineA.collinear(lineB, 1e-10))
+
+        lineB.set(0, 10, 10, 10)
+        self.assertFalse(lineA.collinear(lineB))
+
+        lineB.set(9, 0, 10, 0.00001)
+        self.assertFalse(lineA.collinear(lineB, 1e-10))
+        self.assertFalse(lineA.collinear(lineB))
+        self.assertTrue(lineA.collinear(lineB, 1e-3))
+
+    def test_collinear_point(self):
+        lineA = Line2d(0, 0, 10, 0)
+        pt = Vector2d(0, 0)
+        self.assertTrue(lineA.collinear(pt))
+
+        ptLine = Line2d(pt, pt)
+        self.assertTrue(lineA.collinear(ptLine))
+
+        pt.set(1000, 0)
+        self.assertTrue(lineA.collinear(pt, 1e-10))
+
+        ptLine = Line2d(pt, pt)
+        self.assertTrue(lineA.parallel(ptLine))
+        self.assertFalse(lineA.intersect(ptLine))
+        self.assertFalse(lineA.collinear(ptLine, 1e-10))
+
+        pt.set(10, 0)
+        ptLine.set(pt, pt)
+        self.assertTrue(lineA.collinear(ptLine, 1e-10))
+
+        pt.set(0, 0.00001)
+        self.assertFalse(lineA.collinear(pt))
+        self.assertTrue(lineA.collinear(pt, 1e-3))
+
+        ptLine = Line2d(pt, pt)
+        self.assertFalse(lineA.collinear(ptLine))
+        self.assertTrue(lineA.parallel(ptLine))
+        self.assertFalse(lineA.intersect(ptLine))
+        self.assertTrue(lineA.intersect(ptLine, 1e-2))
+        self.assertTrue(lineA.collinear(ptLine, 1e-3))
+
+        pt.set(0, -0.00001)
+        self.assertFalse(lineA.collinear(pt))
+        self.assertTrue(lineA.collinear(pt, 1e-3))
+
+        ptLine = Line2d(pt, pt)
+        self.assertFalse(lineA.collinear(ptLine))
+        self.assertTrue(lineA.collinear(ptLine, 1e-4))
+
+    def test_intersect(self):
+        pt = Vector2d()
+
+        # parallel horizontal lines
+        lineA = Line2d(1, 1, 2, 1)
+        lineB = Line2d(1, 2, 2, 2)
+        self.assertFalse(lineA.intersect(lineB, pt))
+
+        # parallel vertical lines
+        lineA.set(1, 1, 1, 10)
+        lineB.set(2, 1, 2, 10)
+        self.assertFalse(lineA.intersect(lineB, pt))
+
+        # Two lines that form an inverted T with a gap
+        lineA.set(1, 1, 1, 10)
+        lineB.set(0, 0, 2, 0)
+        self.assertFalse(lineA.intersect(lineB, pt))
+
+        # Two lines that form a T with a gap
+        lineA.set(1, 1, 1, 10)
+        lineB.set(0, 10.1, 2, 10.1)
+        self.assertFalse(lineA.intersect(lineB, pt))
+
+        # Two lines that form an inverted T with a gap
+        lineA.set(0, -10, 0, 10)
+        lineB.set(1, 0, 10, 0)
+        self.assertFalse(lineA.intersect(lineB, pt))
+
+        # Two lines that form a T with a gap
+        lineA.set(0, -10, 0, 10)
+        lineB.set(-1, 0, -10, 0)
+        self.assertFalse(lineA.intersect(lineB, pt))
+
+        # Two collinear lines, one starts where the other stopped
+        lineA.set(1, 1, 1, 10)
+        lineB.set(1, 10, 1, 11)
+        self.assertTrue(lineA.intersect(lineB, pt))
+        self.assertEqual(pt, Vector2d(1, 10))
+
+        # Two collinear lines, one overlaps the other
+        lineA.set(0, 0, 0, 10)
+        lineB.set(0, 9, 0, 11)
+        self.assertTrue(lineA.intersect(lineB, pt))
+        self.assertEqual(pt, Vector2d(0, 9))
+
+        # Two collinear lines, one overlaps the other
+        lineA.set(0, 0, 0, 10)
+        lineB.set(0, -10, 0, 1)
+        self.assertTrue(lineA.intersect(lineB, pt))
+        self.assertEqual(pt, Vector2d(0, 1))
+
+        # Two intersecting lines
+        lineA.set(0, 0, 10, 10)
+        lineB.set(0, 10, 10, 0)
+        self.assertTrue(lineA.intersect(lineB, pt))
+        self.assertEqual(pt, Vector2d(5, 5))
+
+    def test_equality(self):
+        lineA = Line2d(1, 1, 2, 1)
+        lineB = Line2d(1, 2, 2, 2)
+
+        self.assertTrue(lineA != lineB)
+        self.assertTrue(lineA == lineA)
+
+        lineB.set(1, 1, 2, 1.1)
+        self.assertFalse(lineA == lineB)
+
+        lineB.set(1, 1, 2.1, 1)
+        self.assertFalse(lineA == lineB)
+
+        lineB.set(1, 1.1, 2, 1)
+        self.assertFalse(lineA == lineB)
+
+        lineB.set(1.1, 1, 2, 1)
+        self.assertFalse(lineA == lineB)
+
+    def test_serialization(self):
+        line = Line2d(0, 1, 2, 3)
+        self.assertEqual(str(line), "0 1 2 3")
+
+
+if __name__ == '__main__':
+    unittest.main()