Added Vector3Stats pybind11 interface (#351)

Signed-off-by: Alejandro Hernández <ahcorde@gmail.com>

Co-authored-by: Louise Poubel <louise@openrobotics.org>

src/python/CMakeLists.txt

@@ -89,7 +89,6 @@ if (PYTHONLIBS_FOUND)
     set(python_tests
       python_TEST
       SphericalCoordinates_TEST
-      Vector3Stats_TEST
     )
 
     foreach (test ${python_tests})

src/python_pybind11/CMakeLists.txt

@@ -32,6 +32,7 @@ if (${pybind11_FOUND})
     src/Spline.cc
     src/StopWatch.cc
     src/Temperature.cc
+    src/Vector3Stats.cc
   )
 
   target_link_libraries(math PRIVATE
@@ -121,6 +122,7 @@ if (${pybind11_FOUND})
       Triangle_TEST
       Vector2_TEST
       Vector3_TEST
+      Vector3Stats_TEST
       Vector4_TEST
     )
 

src/python_pybind11/src/Vector3Stats.cc

@@ -0,0 +1,78 @@
+/*
+ * 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.
+ *
+*/
+
+#include <string>
+
+#include <ignition/math/Vector3Stats.hh>
+
+#include "Vector3Stats.hh"
+
+using namespace pybind11::literals;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+void defineMathVector3Stats(py::module &m, const std::string &typestr)
+{
+  using Class = ignition::math::Vector3Stats;
+  std::string pyclass_name = typestr;
+  py::class_<Class>(m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol(),
+                    py::dynamic_attr())
+    .def(py::init<>())
+    .def("insert_data",
+         &Class::InsertData,
+         "Add a new sample to the statistical measures")
+    .def("insert_statistic",
+         &Class::InsertStatistic,
+         "Add a new type of statistic.")
+    .def("insert_statistics",
+         &Class::InsertStatistics,
+         "Set the size of the box.")
+    .def("reset",
+         &Class::Reset,
+         "Forget all previous data.")
+    .def("x",
+         py::overload_cast<>(&Class::X),
+         py::return_value_policy::reference,
+         "Get statistics for x component of signal.")
+    .def("y",
+         py::overload_cast<>(&Class::Y),
+         py::return_value_policy::reference,
+         "Get statistics for y component of signal.")
+    .def("z",
+         py::overload_cast<>(&Class::Z),
+         py::return_value_policy::reference,
+         "Get statistics for z component of signal.")
+    .def("mag",
+         py::overload_cast<>(&Class::Mag),
+         py::return_value_policy::reference,
+         "Get statistics for mag component of signal.")
+    .def("__copy__", [](const Class &self) {
+      return Class(self);
+    })
+    .def("__deepcopy__", [](const Class &self, py::dict) {
+      return Class(self);
+    }, "memo"_a);
+}
+}  // namespace python
+}  // namespace math
+}  // namespace ignition

src/python_pybind11/src/Vector3Stats.hh

@@ -0,0 +1,43 @@
+/*
+ * 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__VECTOR3STATS_HH_
+#define IGNITION_MATH_PYTHON__VECTOR3STATS_HH_
+
+#include <string>
+
+#include <pybind11/pybind11.h>
+
+namespace py = pybind11;
+
+namespace ignition
+{
+namespace math
+{
+namespace python
+{
+/// Define a pybind11 wrapper for an ignition::math::Vector3Stats
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ * \param[in] typestr name of the type used by Python
+ */
+void defineMathVector3Stats(py::module &m, const std::string &typestr);
+}  // namespace python
+}  // namespace math
+}  // namespace ignition
+
+#endif  // IGNITION_MATH_PYTHON__VECTOR3STATS_HH_

src/python_pybind11/src/_ignition_math_pybind11.cc

@@ -51,6 +51,7 @@
 #include "Triangle3.hh"
 #include "Vector2.hh"
 #include "Vector3.hh"
+#include "Vector3Stats.hh"
 #include "Vector4.hh"
 
 namespace py = pybind11;
@@ -103,6 +104,8 @@ PYBIND11_MODULE(math, m)
 
   ignition::math::python::defineMathRotationSpline(m, "RotationSpline");
 
+  ignition::math::python::defineMathVector3Stats(m, "Vector3Stats");
+
   ignition::math::python::defineMathSemanticVersion(m, "SemanticVersion");
 
   ignition::math::python::defineMathSpline(m, "Spline");

src/python/Vector3Stats_TEST.py → src/python_pybind11/test/Vector3Stats_TEST.py

@@ -36,57 +36,58 @@ def mag(self, _name):
     def test_vector3stats_constructor(self):
         # Constructor
         v3stats = Vector3Stats()
-        self.assertTrue(v3stats.x().map().empty())
-        self.assertTrue(v3stats.y().map().empty())
-        self.assertTrue(v3stats.z().map().empty())
-        self.assertTrue(v3stats.mag().map().empty())
+        self.assertTrue(len(v3stats.x().map()) == 0)
+        self.assertTrue(len(v3stats.y().map()) == 0)
+        self.assertTrue(len(v3stats.z().map()) == 0)
+        self.assertTrue(len(v3stats.mag().map()) == 0)
         self.assertAlmostEqual(v3stats.x().count(), 0)
         self.assertAlmostEqual(v3stats.y().count(), 0)
         self.assertAlmostEqual(v3stats.z().count(), 0)
         self.assertAlmostEqual(v3stats.mag().count(), 0)
 
         # Reset
         v3stats.reset()
-        self.assertTrue(v3stats.x().map().empty())
-        self.assertTrue(v3stats.y().map().empty())
-        self.assertTrue(v3stats.z().map().empty())
-        self.assertTrue(v3stats.mag().map().empty())
+        self.assertTrue(len(v3stats.x().map()) == 0)
+        self.assertTrue(len(v3stats.y().map()) == 0)
+        self.assertTrue(len(v3stats.z().map()) == 0)
+        self.assertTrue(len(v3stats.mag().map()) == 0)
         self.assertAlmostEqual(v3stats.x().count(), 0)
         self.assertAlmostEqual(v3stats.y().count(), 0)
         self.assertAlmostEqual(v3stats.z().count(), 0)
         self.assertAlmostEqual(v3stats.mag().count(), 0)
 
         # InsertStatistics
         v3stats = Vector3Stats()
-        self.assertTrue(v3stats.x().map().empty())
-        self.assertTrue(v3stats.y().map().empty())
-        self.assertTrue(v3stats.z().map().empty())
-        self.assertTrue(v3stats.mag().map().empty())
+        self.assertTrue(len(v3stats.x().map()) == 0)
+        self.assertTrue(len(v3stats.y().map()) == 0)
+        self.assertTrue(len(v3stats.z().map()) == 0)
+        self.assertTrue(len(v3stats.mag().map()) == 0)
 
         self.assertTrue(v3stats.insert_statistics("maxAbs"))
         self.assertFalse(v3stats.insert_statistics("maxAbs"))
         self.assertFalse(v3stats.insert_statistic("maxAbs"))
-        self.assertFalse(v3stats.x().map().empty())
-        self.assertFalse(v3stats.y().map().empty())
-        self.assertFalse(v3stats.z().map().empty())
-        self.assertFalse(v3stats.mag().map().empty())
+        self.assertFalse(len(v3stats.x().map()) == 0)
+        self.assertFalse(len(v3stats.y().map()) == 0)
+        self.assertFalse(len(v3stats.z().map()) == 0)
+        self.assertFalse(len(v3stats.mag().map()) == 0)
 
         # Map with no data
         map = v3stats.x().map()
-        self.assertAlmostEqual(map.size(), 1)
-        self.assertAlmostEqual(map.count("maxAbs"), 1)
+
+        self.assertAlmostEqual(len(map), 1)
+        self.assertTrue("maxAbs" in map, 1)
 
         map = v3stats.y().map()
-        self.assertAlmostEqual(map.size(), 1)
-        self.assertAlmostEqual(map.count("maxAbs"), 1)
+        self.assertAlmostEqual(len(map), 1)
+        self.assertTrue("maxAbs" in map, 1)
 
         map = v3stats.z().map()
-        self.assertAlmostEqual(map.size(), 1)
-        self.assertAlmostEqual(map.count("maxAbs"), 1)
+        self.assertAlmostEqual(len(map), 1)
+        self.assertTrue("maxAbs" in map, 1)
 
         map = v3stats.mag().map()
-        self.assertAlmostEqual(map.size(), 1)
-        self.assertAlmostEqual(map.count("maxAbs"), 1)
+        self.assertAlmostEqual(len(map), 1)
+        self.assertTrue("maxAbs" in map, 1)
 
         # Insert some data
         self.assertAlmostEqual(v3stats.x().count(), 0)
@@ -110,10 +111,10 @@ def test_vector3stats_constructor(self):
 
     def test_vector3stats_const_accessor(self):
         # Const accessors
-        self.assertTrue(self.stats.x().map().empty())
-        self.assertTrue(self.stats.y().map().empty())
-        self.assertTrue(self.stats.z().map().empty())
-        self.assertTrue(self.stats.mag().map().empty())
+        self.assertTrue(len(self.stats.x().map()) == 0)
+        self.assertTrue(len(self.stats.y().map()) == 0)
+        self.assertTrue(len(self.stats.z().map()) == 0)
+        self.assertTrue(len(self.stats.mag().map()) == 0)
 
         name = "maxAbs"
         self.assertTrue(self.stats.insert_statistics(name))