Merge branch 'ign-math6' into mass_matrix3_tolerance_bug

include/ignition/math/Pose3.hh

@@ -422,7 +422,7 @@ namespace ignition
         return this->q;
       }
 
-      /// \brief Get a mutuable reference to the rotation.
+      /// \brief Get a mutable reference to the rotation.
       /// \return Quaternion representation of the rotation.
       public: inline Quaternion<T> &Rot()
       {

src/python_pybind11/src/AxisAlignedBox.cc

@@ -79,12 +79,12 @@ void defineMathAxisAlignedBox(py::module &m, const std::string &typestr)
     .def(py::self == py::self)
     .def(py::self != py::self)
     .def("min",
-         py::overload_cast<>(&Class::Min, py::const_),
-         py::return_value_policy::reference,
+         py::overload_cast<>(&Class::Min),
+         py::return_value_policy::reference_internal,
          "Get the minimum corner.")
     .def("max",
-         py::overload_cast<>(&Class::Max, py::const_),
-         py::return_value_policy::reference,
+         py::overload_cast<>(&Class::Max),
+         py::return_value_policy::reference_internal,
          "Get the maximum corner.")
     .def("intersects",
          &Class::Intersects,

src/python_pybind11/src/Cylinder.hh

@@ -84,7 +84,6 @@ void defineMathCylinder(py::module &m, const std::string &typestr)
          "Set the rotation offset.")
     .def("mat",
          &Class::Mat,
-         py::return_value_policy::reference,
          "Get the material associated with this box.")
     .def("set_mat",
          &Class::SetMat,

src/python_pybind11/src/Inertial.hh

@@ -65,14 +65,12 @@ void defineMathInertial(py::module &m, const std::string &typestr)
          "Set the mass and inertia matrix.")
     .def("mass_matrix",
          &Class::MassMatrix,
-         py::return_value_policy::reference,
          "Get the mass and inertia matrix.")
     .def("set_pose",
          &Class::SetPose,
          "Set the pose of the center of mass reference frame.")
     .def("pose",
          &Class::Pose,
-         py::return_value_policy::reference,
          "Get the pose of the center of mass reference frame.")
     .def("moi",
          &Class::Moi,
@@ -86,7 +84,6 @@ void defineMathInertial(py::module &m, const std::string &typestr)
          &Class::SetMassMatrixRotation,
          py::arg("_q") = ignition::math::Quaternion<T>::Identity,
          py::arg("_tol") = 1e-6,
-         py::return_value_policy::reference,
          "Set the MassMatrix rotation (eigenvectors of inertia matrix) "
          "without affecting the MOI in the base coordinate frame.")
     .def("__copy__", [](const Class &self) {

src/python_pybind11/src/Matrix3.hh

@@ -77,7 +77,7 @@ void helpDefineMathMatrix3(py::module &m, const std::string &typestr)
     .def(py::self != py::self)
     .def("__call__",
          py::overload_cast<size_t, size_t>(&Class::operator()),
-         py::return_value_policy::reference)
+         py::return_value_policy::reference_internal)
     // .def(py::self *= py::self)
     .def("set",
          &Class::Set,

src/python_pybind11/src/Matrix4.hh

@@ -71,7 +71,7 @@ void helpDefineMathMatrix4(py::module &m, const std::string &typestr)
     .def(py::self != py::self)
     .def("__call__",
          py::overload_cast<size_t, size_t>(&Class::operator()),
-         py::return_value_policy::reference)
+         py::return_value_policy::reference_internal)
     .def("set",
          &Class::Set,
          "Set values")

src/python_pybind11/src/OrientedBox.hh

@@ -71,7 +71,6 @@ void defineMathOrientedBox(py::module &m, const std::string &typestr)
          "Set the box pose, which is the pose of its center.")
     .def("pose",
          py::overload_cast<>(&Class::Pose, py::const_),
-         py::return_value_policy::reference,
          "Get the box pose, which is the pose of its center.")
     .def("size",
          py::overload_cast<>(&Class::Size, py::const_),

src/python_pybind11/src/Plane.hh

@@ -93,12 +93,12 @@ void defineMathPlane(py::module &m, const std::string &typestr)
          "The side of the plane a point is on.")
     .def("size",
          py::overload_cast<>(&Class::Size),
-         py::return_value_policy::reference,
+         py::return_value_policy::reference_internal,
          "Get the plane size")
     .def("normal",
          py::overload_cast<>(&Class::Normal),
-         py::return_value_policy::reference,
-         "Get the plane size")
+         py::return_value_policy::reference_internal,
+         "Get the plane normal")
     .def("offset",
          &Class::Offset,
          "Get the plane offset")

src/python_pybind11/src/Pose3.hh

@@ -124,8 +124,8 @@ void helpDefineMathPose3(py::module &m, const std::string &typestr)
          &Class::Round,
          "Round all values to _precision decimal places")
     .def("pos",
-         py::overload_cast<>(&Class::Pos, py::const_),
-         py::return_value_policy::reference,
+         py::overload_cast<>(&Class::Pos),
+         py::return_value_policy::reference_internal,
          "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")
@@ -134,8 +134,8 @@ void helpDefineMathPose3(py::module &m, const std::string &typestr)
     .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,
+         py::overload_cast<>(&Class::Rot),
+         py::return_value_policy::reference_internal,
          "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")

src/python_pybind11/src/RotationSpline.cc

@@ -38,7 +38,6 @@ void defineMathRotationSpline(py::module &m, const std::string &typestr)
        "Adds a control point to the end of the spline.")
    .def("point",
         &Class::Point,
-        py::return_value_policy::reference,
         "Gets the detail of one of the control points of the spline.")
    .def("point_count",
         &Class::PointCount,

src/python_pybind11/src/Vector3Stats.cc

@@ -52,19 +52,19 @@ void defineMathVector3Stats(py::module &m, const std::string &typestr)
          "Forget all previous data.")
     .def("x",
          py::overload_cast<>(&Class::X),
-         py::return_value_policy::reference,
+         py::return_value_policy::reference_internal,
          "Get statistics for x component of signal.")
     .def("y",
          py::overload_cast<>(&Class::Y),
-         py::return_value_policy::reference,
+         py::return_value_policy::reference_internal,
          "Get statistics for y component of signal.")
     .def("z",
          py::overload_cast<>(&Class::Z),
-         py::return_value_policy::reference,
+         py::return_value_policy::reference_internal,
          "Get statistics for z component of signal.")
     .def("mag",
          py::overload_cast<>(&Class::Mag),
-         py::return_value_policy::reference,
+         py::return_value_policy::reference_internal,
          "Get statistics for mag component of signal.")
     .def("__copy__", [](const Class &self) {
       return Class(self);