Merge gz-math7 ➡️ main

.github/workflows/ci.yml

@@ -1,14 +1,20 @@
 name: Ubuntu CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - 'ign-math[0-9]'
+      - 'gz-math[0-9]'
+      - 'main'
 
 jobs:
   jammy-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Jammy CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Compile and test
         id: ci
         uses: gazebo-tooling/action-gz-ci@jammy
@@ -22,7 +28,7 @@ jobs:
     name: Ubuntu Noble CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Compile and test
         id: ci
         uses: gazebo-tooling/action-gz-ci@noble

.github/workflows/package_xml.yml

@@ -0,0 +1,11 @@
+name: Validate package.xml
+
+on:
+  pull_request:
+
+jobs:
+  package-xml:
+    runs-on: ubuntu-latest
+    name: Validate package.xml
+    steps:
+      - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy

.github/workflows/triage.yml

@@ -14,4 +14,3 @@ jobs:
         with:
           project-url: https://github.com/orgs/gazebosim/projects/7
           github-token: ${{ secrets.TRIAGE_TOKEN }}
-

BUILD.bazel

@@ -11,13 +11,23 @@ load(
     "@gz//bazel/lint:lint.bzl",
     "add_lint_tests",
 )
+load(
+    "@rules_license//rules:license.bzl",
+    "license",
+)
 
 package(
+    default_applicable_licenses = [GZ_ROOT + "math:license"],
     default_visibility = GZ_VISIBILITY,
     features = GZ_FEATURES,
 )
 
-licenses(["notice"])  # Apache-2.0
+license(
+    name = "license",
+    package_name = "gz-math",
+)
+
+licenses(["notice"])
 
 exports_files(["LICENSE"])
 

Changelog.md

@@ -4,6 +4,67 @@
 
 ## Gazebo Math 7.x
 
+### Gazebo Math 7.5.0 (2024-06-18)
+
+1. Backport: Adding cone primitives.
+    * [Pull request #594](https://github.com/gazebosim/gz-math/pull/594)
+
+1. Enable 24.04 CI on harmonic
+    * [Pull request #590](https://github.com/gazebosim/gz-math/pull/590)
+
+1. Add package.xml
+    * [Pull request #581](https://github.com/gazebosim/gz-math/pull/581)
+
+1. bazel: correctly export license
+    * [Pull request #586](https://github.com/gazebosim/gz-math/pull/586)
+
+1. Add missing eigen3.hh header for bazel build
+    * [Pull request #585](https://github.com/gazebosim/gz-math/pull/585)
+
+1. Expose non-const reference to edges
+    * [Pull request #580](https://github.com/gazebosim/gz-math/pull/580)
+
+### Gazebo Math 7.4.0 (2024-03-14)
+
+1. Added MecanumDriveOdometry Python wrapper
+    * [Pull request #549](https://github.com/gazebosim/gz-math/pull/549)
+
+1. Update CI badges in README
+    * [Pull request #571](https://github.com/gazebosim/gz-math/pull/571)
+
+1. Infrastructure
+    * [Pull request #569](https://github.com/gazebosim/gz-math/pull/569)
+
+1. Suppress warnings on MSVC
+    * [Pull request #564](https://github.com/gazebosim/gz-math/pull/564)
+
+1. Remove the use of numeric_limits in appendToStream test
+    * [Pull request #553](https://github.com/gazebosim/gz-math/pull/553)
+
+1. Replace CMake Python variables with new ones from FindPython3 module
+    * [Pull request #402](https://github.com/gazebosim/gz-math/pull/402)
+
+1. Fix `Matrix3_TEST.py` on Windows with conda-forge dependencies
+    * [Pull request #561](https://github.com/gazebosim/gz-math/pull/561)
+
+1. Fix small typo cppgetstarted.md
+    * [Pull request #560](https://github.com/gazebosim/gz-math/pull/560)
+
+1. Update Ubuntu Binary installation since apt-key is deprecated
+    * [Pull request #559](https://github.com/gazebosim/gz-math/pull/559)
+
+1. Update file tree in README to point out pybind11
+    * [Pull request #558](https://github.com/gazebosim/gz-math/pull/558)
+
+1. Update tutorial/color.md
+    * [Pull request #557](https://github.com/gazebosim/gz-math/pull/557)
+
+1. ign->gz in README.md
+    * [Pull request #556](https://github.com/gazebosim/gz-math/pull/556)
+
+1. Update example_triangle.md
+    * [Pull request #555](https://github.com/gazebosim/gz-math/pull/555)
+
 ### Gazebo Math 7.3.0 (2023-08-29)
 
 1. Adds a validity check for Sessions created using the `TimeVaryingVolumetricGrid`
@@ -274,6 +335,28 @@
 
 ## Gazebo Math 6.x
 
+## Gazebo Math 6.15.1 (2024-01-05)
+
+1. Replace CMake Python variables with new ones from FindPython3 module
+    * [Pull request #402](https://github.com/gazebosim/gz-math/pull/402)
+
+1. Suppress warnings on MSVC
+    * [Pull request #564](https://github.com/gazebosim/gz-math/pull/564)
+
+1. Infrastructure
+    * [Pull request #569](https://github.com/gazebosim/gz-math/pull/569)
+
+## Gazebo Math 6.15.0 (2023-09-01)
+
+1. Fixes for testing in non standard architectures
+    * [Pull request #546](https://github.com/gazebosim/gz-math/pull/546)
+
+1. MecanumDriveOdometry to handle odometry estimation of Mecanum wheeled models
+    * [Pull request #486](https://github.com/gazebosim/gz-math/pull/486)
+
+1. Infrastructure
+    * [Pull request #547](https://github.com/gazebosim/gz-math/pull/547)
+
 ## Gazebo Math 6.14.0 (2023-04-14)
 
 1. Disable pybind11 on windows by default

README.md

@@ -1,6 +1,6 @@
 # Gazebo Math : Math classes and functions for robot applications
 
-**Maintainer:** nate AT openrobotics DOT org
+**Maintainer:** scpeters AT openrobotics DOT org
 
 [![GitHub open issues](https://img.shields.io/github/issues-raw/gazebosim/gz-math.svg)](https://github.com/gazebosim/gz-math/issues)
 [![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/gazebosim/gz-math.svg)](https://github.com/gazebosim/gz-math/pulls)
@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-math/branch/gz-math8/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-math/branch/gz-math8)
-Ubuntu Focal  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-gz-math8-focal-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-gz-math8-focal-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-gz-math8-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-gz-math8-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ign_math-ci-win)](https://build.osrfoundation.org/job/ign_math-ci-win)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-math/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-math/branch/main)
+Ubuntu Noble  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_math-ci-main-noble-amd64)](https://build.osrfoundation.org/job/gz_math-ci-main-noble-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_math-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/gz_math-ci-main-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_math-main-win)](https://build.osrfoundation.org/job/gz_math-main-win)
 
 Gazebo Math, a component of [Gazebo](https://gazebosim.org), provides general purpose math
 classes and functions designed for robotic applications.

eigen3/BUILD.bazel

@@ -1,21 +1,28 @@
 load(
     "@gz//bazel/skylark:build_defs.bzl",
-    "GZ_FEATURES",
     "GZ_ROOT",
     "GZ_VISIBILITY",
-    "gz_configure_header",
-    "gz_export_header",
     "gz_include_header",
 )
 
+package(default_applicable_licenses = [GZ_ROOT + "math:license"])
+
 public_headers = glob([
     "include/gz/math/eigen3/*.hh",
 ])
 
+gz_include_header(
+    name = "eigen3_hh_genrule",
+    out = "include/gz/math/eigen3.hh",
+    hdrs = public_headers,
+)
+
 cc_library(
     name = "eigen3",
     srcs = public_headers,
-    hdrs = public_headers,
+    hdrs = public_headers + [
+        "include/gz/math/eigen3.hh",
+    ],
     includes = ["include"],
     visibility = GZ_VISIBILITY,
     deps = [

include/gz/math/graph/Graph.hh

@@ -681,6 +681,19 @@ namespace graph
       return iter->second;
     }
 
+    /// \brief Get a mutable reference to an edge using its Id.
+    /// \param[in] _id The Id of the edge.
+    /// \return A mutable reference to the edge with Id = _id or NullEdge if
+    /// not found.
+    public: EdgeType &EdgeFromId(const EdgeId &_id)
+    {
+      auto iter = this->edges.find(_id);
+      if (iter == this->edges.end())
+        return EdgeType::NullEdge;
+
+      return iter->second;
+    }
+
     /// \brief Stream insertion operator. The output uses DOT graph
     /// description language.
     /// \param[out] _out The output stream.

package.xml

@@ -0,0 +1,25 @@
+<?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>
+  <description>Gazebo Math : Math classes and functions for robot applications</description>
+  <maintainer email="[email protected]">Steve Peters</maintainer>
+  <maintainer email="[email protected]">Aditya Pande</maintainer>
+  <license>Apache License 2.0</license>
+  <url type="website">https://github.com/gazebosim/gz-math</url>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <build_depend>gz-cmake4</build_depend>
+  <build_depend>pybind11-dev</build_depend>
+
+  <depend>eigen</depend>
+  <depend>gz-utils3</depend>
+
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>

src/graph/GraphUndirected_TEST.cc

@@ -368,6 +368,8 @@ TEST(UndirectedGraphTest, AddEdge)
   auto edge = graph.EdgeFromId(e2.Id());
   EXPECT_DOUBLE_EQ(5.0, edge.Data());
   EXPECT_DOUBLE_EQ(6.0, edge.Weight());
+  edge.Data() = 7.0;
+  EXPECT_DOUBLE_EQ(7.0, edge.Data());
 
   // Check that the edges point to the right vertices.
   EXPECT_EQ(0u, e0.Vertices().first);

src/python_pybind11/CMakeLists.txt

@@ -1,10 +1,3 @@
-if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
-  # pybind11 logic for setting up a debug build when both a debug and release
-  # python interpreter are present in the system seems to be pretty much broken.
-  # This works around the issue.
-  set(PYTHON_LIBRARIES "${PYTHON_DEBUG_LIBRARIES}")
-endif()
-
 message(STATUS "Building pybind11 interfaces")
 set(BINDINGS_MODULE_NAME "math${PROJECT_VERSION_MAJOR}")
 # Split from main extension and converted to pybind11
@@ -29,6 +22,7 @@ pybind11_add_module(${BINDINGS_MODULE_NAME} MODULE
   src/Matrix3.cc
   src/Matrix4.cc
   src/Matrix6.cc
+  src/MecanumDriveOdometry.cc
   src/MovingWindowFilter.cc
   src/PID.cc
   src/Polynomial3.cc
@@ -137,6 +131,7 @@ if (BUILD_TESTING)
     Matrix3_TEST
     Matrix4_TEST
     Matrix6_TEST
+    MecanumDriveOdometry_TEST
     MovingWindowFilter_TEST
     OrientedBox_TEST
     PID_TEST

src/python_pybind11/src/MecanumDriveOdometry.cc

@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2023 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 <gz/math/MecanumDriveOdometry.hh>
+
+#include "MecanumDriveOdometry.hh"
+
+namespace gz
+{
+namespace math
+{
+namespace python
+{
+void defineMathMecanumDriveOdometry(py::module &m, const std::string &typestr)
+{
+  using Class = gz::math::MecanumDriveOdometry;
+  std::string pyclass_name = typestr;
+  py::class_<Class>(m,
+                    pyclass_name.c_str(),
+                    py::buffer_protocol())
+  .def(py::init<size_t>(), py::arg("_windowSize") = 10)
+  .def("init", &Class::Init, "Initialize the odometry")
+  .def("initialized", &Class::Initialized, "Get whether Init has been called.")
+  .def("update",
+       &Class::Update,
+       "Updates the odometry class with latest wheels and "
+       "steerings position")
+  .def("heading", &Class::Heading, "Get the heading.")
+  .def("x", &Class::X, "Get the X position.")
+  .def("y", &Class::Y, "Get the Y position.")
+  .def("linear_velocity",
+       &Class::LinearVelocity,
+       "Get the linear velocity.")
+  .def("angular_velocity",
+       &Class::AngularVelocity,
+       "Get the angular velocity.")
+  .def("lateral_velocity",
+       &Class::LateralVelocity,
+       "Get the lateral velocity.")
+  .def("set_wheel_params",
+       &Class::SetWheelParams,
+       "Set the wheel parameters including the radius and separation.")
+  .def("set_velocity_rolling_window_size",
+       &Class::SetVelocityRollingWindowSize,
+       "Set the velocity rolling window size.")
+  .def("wheel_separation", &Class::WheelSeparation, "Get the wheel separation")
+  .def("wheel_base", &Class::WheelBase, "Get the wheel base")
+  .def("left_wheel_radius",
+       &Class::LeftWheelRadius,
+       "Get the left wheel radius")
+  .def("right_wheel_radius",
+       &Class::RightWheelRadius,
+       "Get the rightwheel radius");
+
+}
+}  // namespace python
+}  // namespace math
+}  // namespace gz