Added Atmosphere Python interface (#968)

Signed-off-by: ahcorde <[email protected]>

include/sdf/Atmosphere.hh

@@ -93,7 +93,7 @@ namespace sdf
     /// instance equals the given atmosphere instance.
     /// \param[in] _atmosphere Atmosphere instance to compare.
     /// \return True if this instance equals the given atmosphere.
-    public: bool operator==(const Atmosphere &_atmosphere);
+    public: bool operator==(const Atmosphere &_atmosphere) const;
 
     /// \brief Create and return an SDF element filled with data from this
     /// atmosphere.

python/CMakeLists.txt

@@ -39,6 +39,7 @@ endfunction()
 pybind11_add_module(sdformat SHARED
   src/sdf/_ignition_sdformat_pybind11.cc
   src/sdf/pyAltimeter.cc
+  src/sdf/pyAtmosphere.cc
   src/sdf/pyBox.cc
   src/sdf/pyCapsule.cc
   src/sdf/pyCollision.cc
@@ -84,6 +85,7 @@ if (BUILD_TESTING)
 
   set(python_tests
     pyAltimeter_TEST
+    pyAtmosphere_TEST
     pyBox_TEST
     pyCapsule_TEST
     pyCollision_TEST

python/src/sdf/_ignition_sdformat_pybind11.cc

@@ -17,6 +17,7 @@
 #include <pybind11/pybind11.h>
 
 #include "pyAltimeter.hh"
+#include "pyAtmosphere.hh"
 #include "pyBox.hh"
 #include "pyCapsule.hh"
 #include "pyCollision.hh"
@@ -47,6 +48,7 @@ PYBIND11_MODULE(sdformat, m) {
   m.doc() = "sdformat Python Library.";
 
   sdf::python::defineAltimeter(m);
+  sdf::python::defineAtmosphere(m);
   sdf::python::defineBox(m);
   sdf::python::defineCapsule(m);
   sdf::python::defineCollision(m);

python/src/sdf/pyAtmosphere.cc

@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2022 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 "pyAtmosphere.hh"
+
+#include <pybind11/operators.h>
+#include <pybind11/pybind11.h>
+
+#include <ignition/math/Temperature.hh>
+
+#include "sdf/Atmosphere.hh"
+
+using namespace pybind11::literals;
+
+namespace sdf
+{
+// Inline bracket to help doxygen filtering.
+inline namespace SDF_VERSION_NAMESPACE {
+namespace python
+{
+/////////////////////////////////////////////////
+void defineAtmosphere(pybind11::object module)
+{
+  pybind11::class_<sdf::Atmosphere> atmosphereModule(module, "Atmosphere");
+  atmosphereModule
+    .def(pybind11::init<>())
+    .def(pybind11::init<sdf::Atmosphere>())
+    .def(pybind11::self == pybind11::self)
+    .def("type", &sdf::Atmosphere::Type,
+         "Get the type of the atmospheric model.")
+    .def("set_type", &sdf::Atmosphere::SetType,
+         "Set the type of the atmospheric model.")
+    .def("temperature", &sdf::Atmosphere::Temperature,
+         "Get the temperature at sea level.")
+    .def("set_temperature", &sdf::Atmosphere::SetTemperature,
+         "Set the temperature at sea level")
+    .def("temperature_gradient", &sdf::Atmosphere::TemperatureGradient,
+         "Get the temperature gradient with respect to increasing "
+         "altitude in units of K/m.")
+    .def("set_temperature_gradient", &sdf::Atmosphere::SetTemperatureGradient,
+         "Set the temperature gradient with respect to increasing "
+         "altitude in units of K/m.")
+    .def("pressure", &sdf::Atmosphere::Pressure,
+         "Get the pressure at sea level in pascals.")
+    .def("set_pressure", &sdf::Atmosphere::SetPressure,
+         "Set the pressure at sea level in pascals.")
+    .def("__copy__", [](const sdf::Atmosphere &self) {
+      return sdf::Atmosphere(self);
+    })
+    .def("__deepcopy__", [](const sdf::Atmosphere &self, pybind11::dict) {
+      return sdf::Atmosphere(self);
+    }, "memo"_a);
+
+    pybind11::enum_<sdf::AtmosphereType>(atmosphereModule, "AtmosphereType")
+      .value("ADIABATIC", sdf::AtmosphereType::ADIABATIC);
+}
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf

python/src/sdf/pyAtmosphere.hh

@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2022 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 SDFORMAT_PYTHON_ATMOSPHERE_HH_
+#define SDFORMAT_PYTHON_ATMOSPHERE_HH_
+
+#include <pybind11/pybind11.h>
+
+#include "sdf/Atmosphere.hh"
+
+#include "sdf/config.hh"
+
+namespace sdf
+{
+// Inline bracket to help doxygen filtering.
+inline namespace SDF_VERSION_NAMESPACE {
+namespace python
+{
+/// Define a pybind11 wrapper for an sdf::Atmosphere
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void defineAtmosphere(pybind11::object module);
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf
+
+#endif  // SDFORMAT_PYTHON_ATMOSPHERE_HH_

python/test/pyAtmosphere_TEST.py

@@ -0,0 +1,61 @@
+# Copyright (C) 2022 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.
+
+from ignition.math import Pose3d, Temperature
+from sdformat import Atmosphere
+import unittest
+
+class AtmosphereTEST(unittest.TestCase):
+
+
+  def test_default_construction(self):
+    atmosphere = Atmosphere()
+    self.assertEqual(Atmosphere.AtmosphereType.ADIABATIC, atmosphere.type())
+    self.assertAlmostEqual(288.15, atmosphere.temperature().kelvin())
+    self.assertAlmostEqual(-0.0065, atmosphere.temperature_gradient())
+    self.assertAlmostEqual(101325, atmosphere.pressure())
+
+
+  def test_set(self):
+    atmosphere = Atmosphere()
+    atmosphere.set_type(Atmosphere.AtmosphereType.ADIABATIC)
+    self.assertEqual(Atmosphere.AtmosphereType.ADIABATIC, atmosphere.type())
+
+    atmosphere.set_temperature(Temperature(123.23))
+    self.assertAlmostEqual(123.23, atmosphere.temperature().kelvin())
+
+    atmosphere.set_temperature_gradient(-1.65)
+    self.assertAlmostEqual(-1.65, atmosphere.temperature_gradient())
+
+    atmosphere.set_pressure(76531.3)
+    self.assertAlmostEqual(76531.3, atmosphere.pressure())
+
+
+  def test_copy_assignment(self):
+    atmosphere = Atmosphere()
+    atmosphere.set_temperature(Temperature(123.23))
+    atmosphere.set_temperature_gradient(-1.65)
+    atmosphere.set_pressure(76531.3)
+
+    atmosphere2 = atmosphere
+    self.assertEqual(Atmosphere.AtmosphereType.ADIABATIC, atmosphere2.type())
+    self.assertAlmostEqual(123.23, atmosphere2.temperature().kelvin())
+    self.assertAlmostEqual(-1.65, atmosphere2.temperature_gradient())
+    self.assertAlmostEqual(76531.3, atmosphere2.pressure())
+
+    self.assertEqual(atmosphere, atmosphere2)
+
+
+if __name__ == '__main__':
+    unittest.main()

src/Atmosphere.cc

@@ -136,7 +136,7 @@ void Atmosphere::SetPressure(const double _pressure)
 }
 
 //////////////////////////////////////////////////
-bool Atmosphere::operator==(const Atmosphere &_atmosphere)
+bool Atmosphere::operator==(const Atmosphere &_atmosphere) const
 {
   return this->dataPtr->type == _atmosphere.dataPtr->type &&
     this->dataPtr->temperature == _atmosphere.dataPtr->temperature &&