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ahcorde
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chapulina
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Added Material pybind11 interface (#340)
Signed-off-by: Alejandro Hernández <ahcorde@gmail.com> Co-authored-by: Louise Poubel <louise@openrobotics.org>
1 parent bb43b30 commit a0be19f

6 files changed

Lines changed: 170 additions & 16 deletions

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‎src/python/CMakeLists.txt‎

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@@ -95,7 +95,6 @@ if (PYTHONLIBS_FOUND)
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GaussMarkovProcess_TEST
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Inertial_TEST
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MassMatrix3_TEST
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Material_TEST
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Matrix4_TEST
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OrientedBox_TEST
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PID_TEST

‎src/python_pybind11/CMakeLists.txt‎

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@@ -18,6 +18,7 @@ if (${pybind11_FOUND})
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src/Color.cc
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src/Helpers.cc
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src/Kmeans.cc
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src/Material.cc
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src/Rand.cc
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src/RollingMean.cc
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src/SemanticVersion.cc
@@ -82,6 +83,7 @@ if (${pybind11_FOUND})
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Kmeans_TEST
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Line2_TEST
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Line3_TEST
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Material_TEST
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Matrix3_TEST
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MovingWindowFilter_TEST
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Pose3_TEST

‎src/python_pybind11/src/Material.cc‎

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/*
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* Copyright (C) 2021 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <limits>
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#include <map>
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#include <string>
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#include "Material.hh"
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#include <ignition/math/Material.hh>
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#include <ignition/math/MaterialType.hh>
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#include <pybind11/operators.h>
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#include <pybind11/stl_bind.h>
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namespace ignition
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{
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namespace math
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{
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namespace python
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{
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void defineMathMaterial(py::module &m, const std::string &typestr)
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{
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py::bind_map<std::map<
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ignition::math::MaterialType, ignition::math::Material>>
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(m, "MaterialMap");
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using Class = ignition::math::Material;
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std::string pyclass_name = typestr;
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py::class_<Class> (m,
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pyclass_name.c_str(),
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py::buffer_protocol(),
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py::dynamic_attr())
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.def(py::init<>())
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.def(py::init<const ignition::math::MaterialType>())
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.def(py::init<const std::string&>())
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.def(py::init<const double>())
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.def(py::init<const Class&>())
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.def(py::self != py::self)
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.def(py::self == py::self)
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.def("predefined",
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&Class::Predefined,
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"Get all the built-in materials.")
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.def("set_to_nearest_density",
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&Class::SetToNearestDensity,
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py::arg("_value") = 0,
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py::arg("_epsilon") = std::numeric_limits<double>::max(),
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"Set this Material to the built-in Material with "
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"the nearest density value within _epsilon. If a built-in material "
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"could not be found, then this Material is not changed.")
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.def("type",
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&Class::Type,
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"Set the material's type. This will only set the type value. "
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"Other properties, such as density, will not be changed.")
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.def("set_type",
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&Class::SetType,
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"Set the material's type. This will only set the type value. "
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"Other properties, such as density, will not be changed.")
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.def("name",
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&Class::Name,
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"Get the name of the material. This will match the enum type "
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"names used in ::MaterialType, but in lowercase, if a built-in "
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"material is used.")
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.def("set_name",
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&Class::SetName,
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"Set the name of the material.")
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.def("set_density",
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&Class::SetDensity,
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"Set the name of the material.")
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.def("density", &Class::Density,
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"Set the density value of the material in kg/m^3.");
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py::enum_<ignition::math::MaterialType>(m, "MaterialType")
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.value("STYROFOAM", ignition::math::MaterialType::STYROFOAM)
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.value("PINE", ignition::math::MaterialType::PINE)
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.value("WOOD", ignition::math::MaterialType::WOOD)
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.value("OAK", ignition::math::MaterialType::OAK)
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.value("PLASTIC", ignition::math::MaterialType::PLASTIC)
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.value("CONCRETE", ignition::math::MaterialType::CONCRETE)
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.value("ALUMINUM", ignition::math::MaterialType::ALUMINUM)
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.value("STEEL_ALLOY", ignition::math::MaterialType::STEEL_ALLOY)
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.value("STEEL_STAINLESS", ignition::math::MaterialType::STEEL_STAINLESS)
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.value("IRON", ignition::math::MaterialType::IRON)
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.value("BRASS", ignition::math::MaterialType::BRASS)
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.value("COPPER", ignition::math::MaterialType::COPPER)
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.value("TUNGSTEN", ignition::math::MaterialType::TUNGSTEN)
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.value("UNKNOWN_MATERIAL",
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ignition::math::MaterialType::UNKNOWN_MATERIAL)
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.export_values();
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}
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} // namespace python
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} // namespace math
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} // namespace ignition

‎src/python_pybind11/src/Material.hh‎

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/*
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* Copyright (C) 2021 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef IGNITION_MATH_PYTHON__MATERIAL_HH_
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#define IGNITION_MATH_PYTHON__MATERIAL_HH_
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#include <pybind11/pybind11.h>
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#include <string>
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namespace py = pybind11;
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namespace ignition
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{
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namespace math
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{
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namespace python
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{
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/// Define a pybind11 wrapper for an ignition::math::Material
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/**
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* \param[in] module a pybind11 module to add the definition to
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* \param[in] typestr name of the type used by Python
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*/
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void defineMathMaterial(py::module &m, const std::string &typestr);
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} // namespace python
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} // namespace math
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} // namespace ignition
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#endif // IGNITION_MATH_PYTHON__MATERIAL_HH_

‎src/python_pybind11/src/_ignition_math_pybind11.cc‎

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@@ -21,6 +21,7 @@
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#include "Kmeans.hh"
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#include "Line2.hh"
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#include "Line3.hh"
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#include "Material.hh"
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#include "Matrix3.hh"
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#include "MovingWindowFilter.hh"
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#include "Pose3.hh"
@@ -50,6 +51,8 @@ PYBIND11_MODULE(math, m)
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ignition::math::python::defineMathKmeans(m, "Kmeans");
5253

54+
ignition::math::python::defineMathMaterial(m, "Material");
55+
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ignition::math::python::defineMathMovingWindowFilter<int>(
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m, "MovingWindowFilteri");
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ignition::math::python::defineMathMovingWindowFilter<double>(

src/python/Material_TEST.py renamed to src/python_pybind11/test/Material_TEST.py

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@@ -26,32 +26,34 @@ def test_init(self):
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# Make sure that the number of elements in the MaterialType enum matches
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# the number of elements in the MaterialDensity::materials map.
29-
self.assertEqual(ignition.math.MaterialType_UNKNOWN_MATERIAL, len(mats))
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self.assertEqual(ignition.math.MaterialType.UNKNOWN_MATERIAL,
30+
ignition.math.MaterialType(len(mats)))
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3132
# Iterate over each element in the enum. Check the that enum value
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# matches the type value in the mats map.
33-
for i in range(ignition.math.MaterialType_UNKNOWN_MATERIAL):
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for i in range(ignition.math.MaterialType.UNKNOWN_MATERIAL):
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# Get the type of the material for MaterialType i.
35-
self.assertEqual(i, next(iter(mats.find(i)))[1].type())
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self.assertEqual(ignition.math.MaterialType(i),
37+
mats[ignition.math.MaterialType(i)].type())
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# The name should not be empty
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self.assertTrue(next(iter(mats.find(i)))[1].name())
40+
self.assertTrue(mats[ignition.math.MaterialType(i)].name())
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# The density should be less than the max double value and greater than
4143
# zero.
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self.assertLess(next(iter(mats.find(i)))[1].density(), sys.float_info.max)
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self.assertGreater(next(iter(mats.find(i)))[1].density(), 0.0)
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self.assertLess(mats[ignition.math.MaterialType(i)].density(), sys.float_info.max)
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self.assertGreater(mats[ignition.math.MaterialType(i)].density(), 0.0)
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45-
malicious = ignition.math.Material(42)
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malicious = ignition.math.Material(ignition.math.MaterialType(42))
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self.assertEqual(-1.0, malicious.density())
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self.assertEqual('', malicious.name())
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4951
byDensity = ignition.math.Material(42.2)
5052
self.assertEqual(42.2, byDensity.density())
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self.assertEqual(ignition.math.MaterialType_UNKNOWN_MATERIAL, byDensity.type())
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self.assertEqual(ignition.math.MaterialType.UNKNOWN_MATERIAL, byDensity.type())
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def test_comparison(self):
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aluminum = ignition.math.Material(ignition.math.MaterialType_ALUMINUM)
56+
aluminum = ignition.math.Material(ignition.math.MaterialType.ALUMINUM)
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modified = ignition.math.Material(aluminum)
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self.assertEqual(modified, aluminum)
@@ -62,14 +64,14 @@ def test_comparison(self):
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modified = ignition.math.Material(aluminum)
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self.assertEqual(modified, aluminum)
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modified.set_type(ignition.math.MaterialType_PINE)
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modified.set_type(ignition.math.MaterialType.PINE)
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self.assertNotEqual(modified, aluminum)
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def test_accessors(self):
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7072
mat = ignition.math.Material("Aluminum")
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mat1 = ignition.math.Material("aluminum")
72-
mat2 = ignition.math.Material(ignition.math.MaterialType_ALUMINUM)
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mat2 = ignition.math.Material(ignition.math.MaterialType.ALUMINUM)
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mat3 = ignition.math.Material(mat2)
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self.assertAlmostEqual(2700.0, mat.density())
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8789
mat = ignition.math.Material("Notfoundium")
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self.assertGreater(0.0, mat.density())
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self.assertEqual(ignition.math.MaterialType_UNKNOWN_MATERIAL,
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self.assertEqual(ignition.math.MaterialType.UNKNOWN_MATERIAL,
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mat.type())
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self.assertFalse(mat.name())
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9395
material = ignition.math.Material()
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material.set_to_nearest_density(19300.0)
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self.assertEqual(ignition.math.MaterialType_TUNGSTEN, material.type())
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self.assertEqual(ignition.math.MaterialType.TUNGSTEN, material.type())
9698
self.assertAlmostEqual(19300.0, material.density())
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98100
material = ignition.math.Material()
99101
material.set_to_nearest_density(1001001.001, 1e-3)
100-
self.assertEqual(ignition.math.MaterialType_UNKNOWN_MATERIAL,
102+
self.assertEqual(ignition.math.MaterialType.UNKNOWN_MATERIAL,
101103
material.type())
102104
self.assertGreater(0.0, material.density())
103105
material = ignition.math.Material()
104106
material.set_to_nearest_density(1001001.001)
105-
self.assertEqual(ignition.math.MaterialType_TUNGSTEN, material.type())
107+
self.assertEqual(ignition.math.MaterialType.TUNGSTEN, material.type())
106108
self.assertAlmostEqual(19300, material.density())
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