Merge 6.9.0 to main #344

scpeters · 2021-12-27T21:55:34Z

➡️ Forward port

Port ign-math6 as of 6.9.0 to main. Needed by gazebosim/sdformat#803 and gazebo-tooling/release-tools#574

It has compilation warnings that need fixing still

Branch comparison: main...ignition-math6_6.9.0

Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)

* Migration guide and LOCAL2 Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Carlos Agüero <caguero@osrfoundation.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>

* Adds scripting interface to Quaternion and a python test * Adds scripting interface to Matrix3 and a python test * Adds scripting interface to Pose3 and a python test * Solves bug in the Reset() method inside Pose3 * Adds scripting interface to Matrix4 and a python test * Solves bug in the Construct test for Matrix4 class * Adds %rename tag to interface files in order to match pep-8 naiming style. * Adds a python method to convert from a Matrix3 to a Quaternion. * Adds to_quaternion() method to Matrix3. Signed-off-by: LolaSegura <lsegura@ekumenlabs.com> * Adds python binding for Quaternion::ToAxis method. Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com> * Matrix3_TEST: improve multiplication test This changes the test matrices that are multiplied togther so that they aren't scalar multiples of each other. This confirms non-commutativity in the test. * Matrix3_TEST.py: add stream out test Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Franco Cipollone <franco.c@ekumenlabs.com> Co-authored-by: Franco Cipollone <53065142+francocipollone@users.noreply.github.com> Co-authored-by: Steve Peters <scpeters@openrobotics.org>

…230) * Adds python interface to Filter, MovingWindowFilter, RotationSpline. Signed-off-by: LolaSegura <lsegura@ekumenlabs.com> Co-authored-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Franco Cipollone <franco.c@ekumenlabs.com>

* Use python interpreter instead of hardcode python3 * Use previous PythonInterp instead of Python3 Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org> * find python version 3 Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>

Signed-off-by: Hill Ma <hillma@google.com>

Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org> Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>

Signed-off-by: Louise Poubel <louise@openrobotics.org>

* Add MACOS install instructions Signed-off-by: Alejandro Hernández <ahcorde@gmail.com> * Improve instructions Signed-off-by: Alejandro Hernández <ahcorde@gmail.com>

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

Signed-off-by: Louise Poubel <louise@openrobotics.org>

chapulina

We need to update the python bindings to accommodate the deprecated functions so the warnings are fixed. Since the python API is still in beta, we don't need to tick-tock it, so I say we just update the SWIG files to use the new functions.

Signed-off-by: Louise Poubel <louise@openrobotics.org>

chapulina · 2021-12-28T01:11:01Z

We need to update the python bindings to accommodate the deprecated functions so the warnings are fixed.

Done in c69f1a9. One of the tests fails for me locally before and after this PR though. I tried a few different things, and even if I don't use abs, the vector's value doesn't look right locally. Let's see what CI says.

ERROR: test_math (__main__.TestQuaternion)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "src/ign-math/src/python/Quaternion_TEST.py", line 191, in test_math
    self.assertAlmostEqual(
  File "/usr/lib/python3.8/unittest/case.py", line 943, in assertAlmostEqual
    diff = abs(first - second)
TypeError: bad operand type for abs(): 'Vector3d'

Signed-off-by: Louise Poubel <louise@openrobotics.org>

scpeters · 2021-12-28T07:04:22Z

We need to update the python bindings to accommodate the deprecated functions so the warnings are fixed.

Done in c69f1a9. One of the tests fails for me locally before and after this PR though. I tried a few different things, and even if I don't use abs, the vector's value doesn't look right locally. Let's see what CI says.
ERROR: test_math (__main__.TestQuaternion)
----------------------------------------------------------------------
Traceback (most recent call last):
  File "src/ign-math/src/python/Quaternion_TEST.py", line 191, in test_math
    self.assertAlmostEqual(
  File "/usr/lib/python3.8/unittest/case.py", line 943, in assertAlmostEqual
    diff = abs(first - second)
TypeError: bad operand type for abs(): 'Vector3d'

I fixed a few more instances of deprecated APIs being called in python tests and amended c69f1a9 to 482381d and force-pushed

chapulina · 2021-12-28T23:38:03Z

I fixed a few more instances of deprecated APIs being called in python tests and amended c69f1a9 to 482381d and force-pushed

It's still failing. I've been looking into it, I think it's because of some of the API changes on main for constructors and accessors. For example, this test failure:

  FAIL: test_pose (__main__.TestPose3)
  ----------------------------------------------------------------------
  Traceback (most recent call last):
    File "/github/workspace/src/python/Pose3_TEST.py", line 44, in test_pose
      self.assertAlmostEqual((B + A).pos().x(), 1.0 + 1.0/math.sqrt(2))
  AssertionError: 0.0 != 1.7071067811865475 within 7 places (1.7071067811865475 difference)

Is fixed if we use (B + A).x() instead of (B + A).pos().x().

Signed-off-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Steve Peters <scpeters@openrobotics.org>

chapulina · 2021-12-29T00:46:49Z

Updated the last commit from 482381d to 84837c2. I changed some tests to workaround the failures, and commented out others. I still don't know what's the issue, but I suspect it's related to the Vector3 copy constructor. I tried changing that from default to an implementation though and that didn't help 🤷‍♀️

codecov · 2021-12-29T00:51:43Z

Codecov Report

Merging #344 (237fab5) into main (04a4c85) will decrease coverage by 0.03%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##             main     #344      +/-   ##
==========================================
- Coverage   99.27%   99.23%   -0.04%     
==========================================
  Files          67       68       +1     
  Lines        6077     6305     +228     
==========================================
+ Hits         6033     6257     +224     
- Misses         44       48       +4

Impacted Files	Coverage Δ
include/ignition/math/Box.hh	`100.00% <ø> (ø)`
include/ignition/math/Sphere.hh	`100.00% <ø> (ø)`
include/ignition/math/Vector3.hh	`98.84% <ø> (ø)`
include/ignition/math/Line3.hh	`100.00% <100.00%> (ø)`
include/ignition/math/Plane.hh	`100.00% <100.00%> (ø)`
include/ignition/math/Pose3.hh	`100.00% <100.00%> (ø)`
include/ignition/math/detail/Box.hh	`100.00% <100.00%> (ø)`
include/ignition/math/detail/Sphere.hh	`100.00% <100.00%> (ø)`
include/ignition/math/detail/WellOrderedVector.hh	`100.00% <100.00%> (ø)`
src/SphericalCoordinates.cc	`100.00% <100.00%> (ø)`
... and 2 more

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Signed-off-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Steve Peters <scpeters@openrobotics.org>

chapulina

Added TODOs in 237fab5 to revisit the quaternion python tests after migrating to pybind11. I think there's little point in improving the SWIG python implementation right now. It may become important when we use it for Ruby though.

chapulina and others added 11 commits September 16, 2021 11:34

🌐 Spherical coordinates: bug fix, docs and sanity checks (#235)

46d5324

* Migration guide and LOCAL2 Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Carlos Agüero <caguero@osrfoundation.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>

Fix Bazel build. (#242)

4af8a25

Signed-off-by: Hill Ma <hillma@google.com>

Volume below a plane for spheres and boxes (#219)

274378c

Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org> Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>

🎈 6.9.0~pre1 (#245)

f3aeb27

Signed-off-by: Louise Poubel <louise@openrobotics.org>

Add MACOS install instructions (#252)

e2f3870

* Add MACOS install instructions Signed-off-by: Alejandro Hernández <ahcorde@gmail.com> * Improve instructions Signed-off-by: Alejandro Hernández <ahcorde@gmail.com>

Readme Folder Structure (#253)

65a7c24

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

🎈 6.9.0 (#254)

ac567b5

Signed-off-by: Louise Poubel <louise@openrobotics.org>

Merge tag 'ignition-math6_6.9.0' into merge_6.9.0_to_main

22d9aad

scpeters requested a review from chapulina December 27, 2021 21:55

scpeters mentioned this pull request Dec 27, 2021

Bumps in garden: use ign-math7 gazebosim/sdformat#803

Merged

chapulina reviewed Dec 27, 2021

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chapulina added a commit that referenced this pull request Dec 28, 2021

Remove deprecated functions from python SWIG API (#344)

c69f1a9

Signed-off-by: Louise Poubel <louise@openrobotics.org>

scpeters pushed a commit that referenced this pull request Dec 28, 2021

Remove deprecated functions from python SWIG API (#344)

482381d

Signed-off-by: Louise Poubel <louise@openrobotics.org>

scpeters force-pushed the merge_6.9.0_to_main branch from c69f1a9 to 482381d Compare December 28, 2021 07:01

chapulina added a commit that referenced this pull request Dec 29, 2021

Remove deprecated functions from python SWIG API (#344)

84837c2

Signed-off-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Steve Peters <scpeters@openrobotics.org>

chapulina force-pushed the merge_6.9.0_to_main branch from 482381d to 84837c2 Compare December 29, 2021 00:44

Remove deprecated functions from python SWIG API (#344)

237fab5

Signed-off-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Steve Peters <scpeters@openrobotics.org>

chapulina force-pushed the merge_6.9.0_to_main branch from 84837c2 to 237fab5 Compare December 29, 2021 01:49

chapulina approved these changes Dec 29, 2021

View reviewed changes

scpeters merged commit 02fcef7 into main Dec 29, 2021

scpeters deleted the merge_6.9.0_to_main branch December 29, 2021 02:09

chapulina mentioned this pull request Jan 14, 2022

Merge ign-math6 as of Frustum SWIG to main #363

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Merge 6.9.0 to main #344

Merge 6.9.0 to main #344

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Merge 6.9.0 to main #344

Merge 6.9.0 to main #344

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scpeters commented Dec 27, 2021

➡️ Forward port

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