Added Altimeter Python interface (#970)

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

python/CMakeLists.txt

@@ -38,6 +38,7 @@ endfunction()
 
 pybind11_add_module(sdformat SHARED
   src/sdf/_ignition_sdformat_pybind11.cc
+  src/sdf/pyAltimeter.cc
   src/sdf/pyBox.cc
   src/sdf/pyCapsule.cc
   src/sdf/pyCollision.cc
@@ -82,6 +83,7 @@ if (BUILD_TESTING)
   )
 
   set(python_tests
+    pyAltimeter_TEST
     pyBox_TEST
     pyCapsule_TEST
     pyCollision_TEST

python/src/sdf/_ignition_sdformat_pybind11.cc

@@ -16,6 +16,7 @@
 
 #include <pybind11/pybind11.h>
 
+#include "pyAltimeter.hh"
 #include "pyBox.hh"
 #include "pyCapsule.hh"
 #include "pyCollision.hh"
@@ -45,6 +46,7 @@
 PYBIND11_MODULE(sdformat, m) {
   m.doc() = "sdformat Python Library.";
 
+  sdf::python::defineAltimeter(m);
   sdf::python::defineBox(m);
   sdf::python::defineCapsule(m);
   sdf::python::defineCollision(m);

python/src/sdf/pyAltimeter.cc

@@ -0,0 +1,60 @@
+/*
+ * 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 "pyAltimeter.hh"
+
+#include <pybind11/operators.h>
+#include <pybind11/pybind11.h>
+
+#include "sdf/Altimeter.hh"
+
+
+using namespace pybind11::literals;
+
+namespace sdf
+{
+// Inline bracket to help doxygen filtering.
+inline namespace SDF_VERSION_NAMESPACE {
+namespace python
+{
+/////////////////////////////////////////////////
+void defineAltimeter(pybind11::object module)
+{
+  pybind11::class_<sdf::Altimeter>(module, "Altimeter")
+    .def(pybind11::init<>())
+    .def(pybind11::init<sdf::Altimeter>())
+    .def(pybind11::self == pybind11::self)
+    .def(pybind11::self != pybind11::self)
+    .def("vertical_position_noise", &sdf::Altimeter::VerticalPositionNoise,
+         "Get the noise values related to the vertical position.")
+    .def("set_vertical_position_noise",
+         &sdf::Altimeter::SetVerticalPositionNoise,
+         "Set the noise values related to the vertical position.")
+    .def("vertical_velocity_noise", &sdf::Altimeter::VerticalVelocityNoise,
+         "Get the noise values related to the vertical velocity.")
+    .def("set_vertical_velocity_noise",
+         &sdf::Altimeter::SetVerticalVelocityNoise,
+         "Set the noise values related to the vertical velocity.")
+    .def("__copy__", [](const sdf::Altimeter &self) {
+      return sdf::Altimeter(self);
+    })
+    .def("__deepcopy__", [](const sdf::Altimeter &self, pybind11::dict) {
+      return sdf::Altimeter(self);
+    }, "memo"_a);
+}
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf

python/src/sdf/pyAltimeter.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_ALTIMETER_HH_
+#define SDFORMAT_PYTHON_ALTIMETER_HH_
+
+#include <pybind11/pybind11.h>
+
+#include "sdf/Altimeter.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::Altimeter
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void defineAltimeter(pybind11::object module);
+}  // namespace python
+}  // namespace SDF_VERSION_NAMESPACE
+}  // namespace sdf
+
+#endif  // SDFORMAT_PYTHON_ALTIMETER_HH_

python/test/pyAltimeter_TEST.py

@@ -0,0 +1,67 @@
+# 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 Vector3d
+from sdformat import Altimeter, Noise
+import unittest
+
+
+class AtmosphereTEST(unittest.TestCase):
+
+    def test_default_construction(self):
+        alt = Altimeter()
+        defaultNoise = Noise()
+        self.assertTrue(defaultNoise, alt.vertical_position_noise())
+        self.assertTrue(defaultNoise, alt.vertical_velocity_noise())
+
+
+    def test_set(self):
+        alt = Altimeter()
+        defaultNoise = Noise()
+        noise = Noise()
+        self.assertTrue(defaultNoise, alt.vertical_position_noise())
+        self.assertTrue(defaultNoise, alt.vertical_velocity_noise())
+
+        noise.set_type(Noise.NoiseType.GAUSSIAN)
+        noise.set_mean(1.2)
+        noise.set_std_dev(2.3)
+        noise.set_bias_mean(4.5)
+        noise.set_bias_std_dev(6.7)
+        noise.set_precision(8.9)
+
+        alt.set_vertical_position_noise(noise)
+        self.assertTrue(noise, alt.vertical_position_noise())
+        self.assertTrue(defaultNoise, alt.vertical_velocity_noise())
+
+        alt.set_vertical_velocity_noise(noise)
+        self.assertTrue(noise, alt.vertical_position_noise())
+        self.assertTrue(noise, alt.vertical_velocity_noise())
+
+        # Copy Constructor
+        alt2 = Altimeter(alt)
+        self.assertTrue(alt, alt2)
+
+        # Copy operator
+        alt3 = alt
+        self.assertTrue(alt, alt3)
+
+        alt6 = Altimeter()
+        self.assertNotEqual(alt3, alt6)
+
+        # set position noise but velocity noise should still be different
+        alt6.set_vertical_position_noise(alt3.vertical_position_noise());
+        self.assertNotEqual(alt3, alt6);
+
+if __name__ == '__main__':
+    unittest.main()