Bump main to gz-math 9.0.0~pre1 (#635)

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-math8 VERSION 8.0.0)
+project(gz-math9 VERSION 9.0.0)
 
 #============================================================================
 # Find gz-cmake
@@ -18,7 +18,7 @@ set(GZ_CMAKE_VER ${gz-cmake4_VERSION_MAJOR})
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(VERSION_SUFFIX)
+gz_configure_project(VERSION_SUFFIX pre1)
 
 #============================================================================
 # Set project-specific options

Changelog.md

@@ -1,3 +1,7 @@
+## Gazebo Math 9.x
+
+### Gazebo Math 9.0.0 (20XX-XX-XX)
+
 ## Gazebo Math 8.x
 
 ### Gazebo Math 8.0.0 (2024-09-25)

examples/CMakeLists.txt

@@ -3,8 +3,8 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 project(gz-math-examples)
 
 # Find the Gazebo Math library
-find_package(gz-math8 REQUIRED)
-set(GZ_MATH_VER ${gz-math8_VERSION_MAJOR})
+find_package(gz-math9 REQUIRED)
+set(GZ_MATH_VER ${gz-math9_VERSION_MAJOR})
 
 add_executable(additively_separable_scalar_field3_example additively_separable_scalar_field3_example.cc)
 target_link_libraries(additively_separable_scalar_field3_example gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER})

examples/angle_example.py

@@ -21,12 +21,12 @@
 # $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
 #
 
-import gz.math8
+import gz.math9
 
-print("PI in degrees = {}\n".format(gz.math8.Angle.PI.degree()))
+print("PI in degrees = {}\n".format(gz.math9.Angle.PI.degree()))
 
-a1 = gz.math8.Angle(1.5707)
-a2 = gz.math8.Angle(0.7854)
+a1 = gz.math9.Angle(1.5707)
+a2 = gz.math9.Angle(0.7854)
 print("a1 = {} radians, {} degrees\n".format(a1.radian(), a1.degree()))
 print("a2 = {} radians, {} degrees\n".format(a2.radian(), a2.degree()))
 print("a1 * a2 = {} radians, {} degrees\n".format((a1 * a2).radian(),
@@ -36,7 +36,7 @@
 print("a1 - a2 = {} radians, {} degrees\n".format((a1 - a2).radian(),
       (a1 - a2).degree()))
 
-a3 = gz.math8.Angle(15.707)
+a3 = gz.math9.Angle(15.707)
 print("a3 = {} radians, {} degrees\n".format(a3.radian(), a3.degree()))
 a3.normalize()
 print("a3.Normalize = {} radians, {} degrees\n".format(a3.radian(),

examples/diff_drive_odometry.py

@@ -23,7 +23,7 @@
 import datetime
 import math
 
-from gz.math8 import Angle, DiffDriveOdometry
+from gz.math9 import Angle, DiffDriveOdometry
 
 odom = DiffDriveOdometry()
 

examples/gauss_markov_process_example.py

@@ -26,7 +26,7 @@
 # 2. Use gnuplot to create a plot:
 #     gnuplot -e 'set terminal jpeg; plot "plot.data" with lines' > out.jpg
 import datetime
-from gz.math8 import GaussMarkovProcess
+from gz.math9 import GaussMarkovProcess
 
 # Create the process with:
 #   * Start value of 20.2

examples/kmeans.py

@@ -13,7 +13,7 @@
 # limitations under the License.
 
 
-from gz.math8 import Kmeans, Vector3d
+from gz.math9 import Kmeans, Vector3d
 
 # Create some observations.
 obs = list([])

examples/rand_example.py

@@ -22,7 +22,7 @@
 # 2. Use gnuplot to create a plot:
 #     gnuplot -c rand_view_normal.gp > normal.jpg
 #     gnuplot -c rand_view_uniform.gp > uniform.jpg
-from gz.math8 import Rand
+from gz.math9 import Rand
 import sys
 
 if (len(sys.argv) < 2):

examples/vector2_example.py

@@ -20,11 +20,11 @@
 #
 # $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
 #
-import gz.math8
+import gz.math9
 
-va = gz.math8.Vector2d(1, 2)
-vb = gz.math8.Vector2d(3, 4)
-vc = gz.math8.Vector2d(vb)
+va = gz.math9.Vector2d(1, 2)
+vb = gz.math9.Vector2d(3, 4)
+vc = gz.math9.Vector2d(vb)
 
 print("va = {} {}\n".format(va.x(), va.y()))
 print("vb = {} {}\n".format(vb.x(), vb.y()))

examples/vector3_example.py

@@ -20,12 +20,12 @@
 #
 # $ export PYTHONPATH=/usr/lib/python:$PYTHONPATH
 #
-import gz.math8
+import gz.math9
 
-v1 = gz.math8.Vector3d(0, 0, 3)
+v1 = gz.math9.Vector3d(0, 0, 3)
 print("v1 = {} {} {}\n".format(v1.x(), v1.y(), v1.z()))
 
-v2 = gz.math8.Vector3d(4, 0, 0)
+v2 = gz.math9.Vector3d(4, 0, 0)
 print("v2 = {} {} {}\n".format(v2.x(), v2.y(), v2.z()))
 
 v3 = v1 + v2

package.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
-  <name>gz-math8</name>
-  <version>8.0.0</version>
+  <name>gz-math9</name>
+  <version>9.0.0</version>
   <description>Gazebo Math : Math classes and functions for robot applications</description>
   <maintainer email="scpeters@openrobotics.org">Steve Peters</maintainer>
   <maintainer email="aditya050995@gmail.com">Aditya Pande</maintainer>

src/python_pybind11/test/Angle_TEST.py

@@ -14,7 +14,7 @@
 
 import unittest
 import math
-from gz.math8 import Angle
+from gz.math9 import Angle
 
 
 class TestAngle(unittest.TestCase):

src/python_pybind11/test/AxisAlignedBox_TEST.py

@@ -15,7 +15,7 @@
 import math
 import unittest
 
-from gz.math8 import AxisAlignedBox, Helpers, Line3d, Vector3d
+from gz.math9 import AxisAlignedBox, Helpers, Line3d, Vector3d
 
 
 class TestAxisAlignedBox(unittest.TestCase):

src/python_pybind11/test/Box_TEST.py

@@ -15,7 +15,7 @@
 import unittest
 
 import gz
-from gz.math8 import Boxd, MassMatrix3d, Material, Planed, Vector3d
+from gz.math9 import Boxd, MassMatrix3d, Material, Planed, Vector3d
 
 
 class TestBox(unittest.TestCase):
@@ -46,30 +46,30 @@ def test_constructor(self):
         self.assertEqual(box, box2)
 
         # Dimension and mat constructor
-        box = Boxd(1.0, 2.0, 5.0, Material(gz.math8.MaterialType.WOOD))
+        box = Boxd(1.0, 2.0, 5.0, Material(gz.math9.MaterialType.WOOD))
         self.assertEqual(Vector3d(1.0, 2.0, 5.0), box.size())
-        self.assertEqual(Material(gz.math8.MaterialType.WOOD), box.material())
+        self.assertEqual(Material(gz.math9.MaterialType.WOOD), box.material())
 
-        box2 = Boxd(1.0, 2.0, 5.0, Material(gz.math8.MaterialType.WOOD))
+        box2 = Boxd(1.0, 2.0, 5.0, Material(gz.math9.MaterialType.WOOD))
         self.assertEqual(box, box2)
 
         # Vector Dimension and mat constructor
-        box = Boxd(Vector3d(2.2, 2.0, 10.0), Material(gz.math8.MaterialType.WOOD))
+        box = Boxd(Vector3d(2.2, 2.0, 10.0), Material(gz.math9.MaterialType.WOOD))
         self.assertEqual(Vector3d(2.2, 2.0, 10.0), box.size())
-        self.assertEqual(Material(gz.math8.MaterialType.WOOD), box.material())
+        self.assertEqual(Material(gz.math9.MaterialType.WOOD), box.material())
 
-        box2 = Boxd(Vector3d(2.2, 2.0, 10.0), Material(gz.math8.MaterialType.WOOD))
+        box2 = Boxd(Vector3d(2.2, 2.0, 10.0), Material(gz.math9.MaterialType.WOOD))
         self.assertEqual(box, box2)
 
     def test_mutators(self):
         box = Boxd()
         box.set_size(100.1, 2.3, 5.6)
-        box.set_material(Material(gz.math8.MaterialType.PINE))
+        box.set_material(Material(gz.math9.MaterialType.PINE))
 
         self.assertEqual(100.1, box.size().x())
         self.assertEqual(2.3, box.size().y())
         self.assertEqual(5.6, box.size().z())
-        self.assertEqual(Material(gz.math8.MaterialType.PINE), box.material())
+        self.assertEqual(Material(gz.math9.MaterialType.PINE), box.material())
 
         box.set_size(Vector3d(3.4, 1.2, 0.5))
         self.assertEqual(3.4, box.size().x())

src/python_pybind11/test/Capsule_TEST.py

@@ -15,7 +15,7 @@
 import unittest
 
 import gz
-from gz.math8 import Capsuled, Material, MassMatrix3d
+from gz.math9 import Capsuled, Material, MassMatrix3d
 
 import math
 
@@ -41,14 +41,14 @@ def test_constructor(self):
 
         # Length, radius, mat
         capsule = Capsuled(1.0, 2.0,
-            Material(gz.math8.MaterialType.WOOD));
+            Material(gz.math9.MaterialType.WOOD));
         self.assertEqual(1.0, capsule.length());
         self.assertEqual(2.0, capsule.radius());
-        self.assertEqual(Material(gz.math8.MaterialType.WOOD),
+        self.assertEqual(Material(gz.math9.MaterialType.WOOD),
                          capsule.material());
 
         capsule2 = Capsuled(1.0, 2.0,
-            Material(gz.math8.MaterialType.WOOD));
+            Material(gz.math9.MaterialType.WOOD));
         self.assertEqual(capsule, capsule2);
 
 
@@ -60,11 +60,11 @@ def test_mutators(self):
 
         capsule.set_length(100.1);
         capsule.set_radius(.123);
-        capsule.set_material(Material(gz.math8.MaterialType.PINE));
+        capsule.set_material(Material(gz.math9.MaterialType.PINE));
 
         self.assertEqual(100.1, capsule.length());
         self.assertEqual(.123, capsule.radius());
-        self.assertEqual(Material(gz.math8.MaterialType.PINE),
+        self.assertEqual(Material(gz.math9.MaterialType.PINE),
                          capsule.material());
 
 

src/python_pybind11/test/Color_TEST.py

@@ -14,8 +14,8 @@
 
 import math
 import unittest
-from gz.math8 import Color
-from gz.math8 import Vector3f
+from gz.math9 import Color
+from gz.math9 import Vector3f
 
 
 class TestColor(unittest.TestCase):

src/python_pybind11/test/Cone_TEST.py

@@ -18,7 +18,7 @@
 import unittest
 
 import gz
-from gz.math8 import Coned, MassMatrix3d, Material, Quaterniond
+from gz.math9 import Coned, MassMatrix3d, Material, Quaterniond
 
 
 class TestCone(unittest.TestCase):
@@ -56,14 +56,14 @@ def test_constructor(self):
         self.assertEqual(cone, cone2)
 
         # Length, radius, mat and rot constructor
-        cone = Coned(1.0, 2.0, Material(gz.math8.MaterialType.WOOD),
+        cone = Coned(1.0, 2.0, Material(gz.math9.MaterialType.WOOD),
                              Quaterniond(0.1, 0.2, 0.3))
         self.assertEqual(1.0, cone.length())
         self.assertEqual(2.0, cone.radius())
         self.assertEqual(Quaterniond(0.1, 0.2, 0.3), cone.rotational_offset())
-        self.assertEqual(Material(gz.math8.MaterialType.WOOD), cone.mat())
+        self.assertEqual(Material(gz.math9.MaterialType.WOOD), cone.mat())
 
-        cone2 = Coned(1.0, 2.0, Material(gz.math8.MaterialType.WOOD),
+        cone2 = Coned(1.0, 2.0, Material(gz.math9.MaterialType.WOOD),
                               Quaterniond(0.1, 0.2, 0.3))
         self.assertEqual(cone, cone2)
 
@@ -77,12 +77,12 @@ def test_mutators(self):
         cone.set_length(100.1)
         cone.set_radius(.123)
         cone.set_rotational_offset(Quaterniond(1.2, 2.3, 3.4))
-        cone.set_mat(Material(gz.math8.MaterialType.PINE))
+        cone.set_mat(Material(gz.math9.MaterialType.PINE))
 
         self.assertEqual(100.1, cone.length())
         self.assertEqual(.123, cone.radius())
         self.assertEqual(Quaterniond(1.2, 2.3, 3.4), cone.rotational_offset())
-        self.assertEqual(Material(gz.math8.MaterialType.PINE), cone.mat())
+        self.assertEqual(Material(gz.math9.MaterialType.PINE), cone.mat())
 
     def test_volume_and_density(self):
         mass = 1.0

src/python_pybind11/test/CoordinateVector3_TEST.py

@@ -16,7 +16,7 @@
 import math
 import unittest
 
-from gz.math8 import Angle, CoordinateVector3, Vector3d
+from gz.math9 import Angle, CoordinateVector3, Vector3d
 
 
 class TestCoordinateVector3(unittest.TestCase):

src/python_pybind11/test/Cylinder_TEST.py

@@ -16,7 +16,7 @@
 import unittest
 
 import gz
-from gz.math8 import Cylinderd, MassMatrix3d, Material, Quaterniond
+from gz.math9 import Cylinderd, MassMatrix3d, Material, Quaterniond
 
 
 class TestCylinder(unittest.TestCase):
@@ -54,14 +54,14 @@ def test_constructor(self):
         self.assertEqual(cylinder, cylinder2)
 
         # Length, radius, mat and rot constructor
-        cylinder = Cylinderd(1.0, 2.0, Material(gz.math8.MaterialType.WOOD),
+        cylinder = Cylinderd(1.0, 2.0, Material(gz.math9.MaterialType.WOOD),
                              Quaterniond(0.1, 0.2, 0.3))
         self.assertEqual(1.0, cylinder.length())
         self.assertEqual(2.0, cylinder.radius())
         self.assertEqual(Quaterniond(0.1, 0.2, 0.3), cylinder.rotational_offset())
-        self.assertEqual(Material(gz.math8.MaterialType.WOOD), cylinder.mat())
+        self.assertEqual(Material(gz.math9.MaterialType.WOOD), cylinder.mat())
 
-        cylinder2 = Cylinderd(1.0, 2.0, Material(gz.math8.MaterialType.WOOD),
+        cylinder2 = Cylinderd(1.0, 2.0, Material(gz.math9.MaterialType.WOOD),
                               Quaterniond(0.1, 0.2, 0.3))
         self.assertEqual(cylinder, cylinder2)
 
@@ -75,12 +75,12 @@ def test_mutators(self):
         cylinder.set_length(100.1)
         cylinder.set_radius(.123)
         cylinder.set_rotational_offset(Quaterniond(1.2, 2.3, 3.4))
-        cylinder.set_mat(Material(gz.math8.MaterialType.PINE))
+        cylinder.set_mat(Material(gz.math9.MaterialType.PINE))
 
         self.assertEqual(100.1, cylinder.length())
         self.assertEqual(.123, cylinder.radius())
         self.assertEqual(Quaterniond(1.2, 2.3, 3.4), cylinder.rotational_offset())
-        self.assertEqual(Material(gz.math8.MaterialType.PINE), cylinder.mat())
+        self.assertEqual(Material(gz.math9.MaterialType.PINE), cylinder.mat())
 
     def test_volume_and_density(self):
         mass = 1.0

src/python_pybind11/test/DiffDriveOdometry_TEST.py

@@ -17,7 +17,7 @@
 import time
 import unittest
 
-from gz.math8 import Angle, DiffDriveOdometry
+from gz.math9 import Angle, DiffDriveOdometry
 
 
 class TestDiffDriveOdometry(unittest.TestCase):

src/python_pybind11/test/Ellipsoid_TEST.py

@@ -15,7 +15,7 @@
 import unittest
 
 import gz
-from gz.math8 import Ellipsoidd, Material, MassMatrix3d, Vector3d
+from gz.math9 import Ellipsoidd, Material, MassMatrix3d, Vector3d
 
 import math
 
@@ -40,7 +40,7 @@ def test_constructor(self):
 
         # Vector3 of radii and material
         expectedRadii = Vector3d(1.0, 2.0, 3.0)
-        expectedMaterial = Material(gz.math8.MaterialType.WOOD)
+        expectedMaterial = Material(gz.math9.MaterialType.WOOD)
         ellipsoid = Ellipsoidd(expectedRadii, expectedMaterial)
         self.assertEqual(expectedRadii, ellipsoid.radii())
         self.assertEqual(expectedMaterial, ellipsoid.material())
@@ -57,7 +57,7 @@ def test_mutators(self):
         expectedRadii = Vector3d(1.0, 2.0, 3.0)
         ellipsoid.set_radii(expectedRadii)
 
-        expectedMaterial = Material(gz.math8.MaterialType.PINE)
+        expectedMaterial = Material(gz.math9.MaterialType.PINE)
         ellipsoid.set_material(expectedMaterial)
 
         self.assertEqual(expectedRadii, ellipsoid.radii())