ign -> gz Migrate Ignition Headers : gz-math

BUILD.bazel

@@ -43,7 +43,7 @@ ign_export_header(
 
 public_headers_no_gen = glob([
     "include/ignition/math/*.hh",
-    "include/ignition/math/detail/*.hh",
+    "include/gz/math/detail/*.hh",
     "include/ignition/math/graph/*.hh",
 ])
 

CMakeLists.txt

@@ -16,7 +16,10 @@ find_package(ignition-cmake2 2.13.0 REQUIRED)
 #============================================================================
 set (c++standard 17)
 set (CMAKE_CXX_STANDARD 17)
-ign_configure_project(VERSION_SUFFIX)
+ign_configure_project(
+  REPLACE_IGNITION_INCLUDE_PATH gz/math
+  VERSION_SUFFIX
+)
 
 #============================================================================
 # Set project-specific options

Changelog.md

@@ -516,7 +516,7 @@
 
 ### Ignition Math 6.1.0
 
-1. eigen3: add conversion functions for Eigen::AlignedBox3d <=> ignition::math::AxisAlignedBox
+1. eigen3: add conversion functions for Eigen::AlignedBox3d <=> gz::math::AxisAlignedBox
     * [BitBucket pull request 302](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/302)
 
 ### Ignition Math 6.0.0
@@ -547,7 +547,7 @@
     * [BitBucket pull request 301](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/301)
     * [Issue 60](https://github.com/ignitionrobotics/ign-math/issues/60)
 
-1. eigen3: add conversion functions for Eigen::AlignedBox3d <=> ignition::math::AxisAlignedBox
+1. eigen3: add conversion functions for Eigen::AlignedBox3d <=> gz::math::AxisAlignedBox
     * [BitBucket pull request 302](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/302)
 
 

eigen3/include/CMakeLists.txt

@@ -0,0 +1,2 @@
+add_subdirectory(gz)
+install(DIRECTORY ignition DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL})

eigen3/include/gz/math/eigen3/Conversions.hh

@@ -0,0 +1,210 @@
+/*
+ * Copyright (C) 2018 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 GZ_MATH_EIGEN3_CONVERSIONS_HH_
+#define GZ_MATH_EIGEN3_CONVERSIONS_HH_
+
+#include <Eigen/Geometry>
+#include <gz/math/AxisAlignedBox.hh>
+#include <gz/math/Matrix3.hh>
+#include <gz/math/Matrix6.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/math/Quaternion.hh>
+#include <gz/math/Vector3.hh>
+
+namespace ignition
+{
+  namespace math
+  {
+    namespace eigen3
+    {
+      /// \brief Convert from gz::math::Vector3d to Eigen::Vector3d.
+      /// \param[in] _v gz::math::Vector3d to convert
+      /// \return The equivalent Eigen::Vector3d.
+      inline Eigen::Vector3d convert(const gz::math::Vector3d &_v)
+      {
+        return Eigen::Vector3d(_v[0], _v[1], _v[2]);
+      }
+
+      /// \brief Convert from gz::math::AxisAlignedBox to
+      /// Eigen::AlignedBox3d.
+      /// \param[in] _b gz::math::AxisAlignedBox to convert
+      /// \return The equivalent Eigen::AlignedBox3d.
+      inline Eigen::AlignedBox3d convert(
+          const gz::math::AxisAlignedBox &_b)
+      {
+        return Eigen::AlignedBox3d(convert(_b.Min()), convert(_b.Max()));
+      }
+
+      /// \brief Convert from gz::math::Matrix3d to Eigen::Matrix3d.
+      /// \param[in] _m gz::math::Matrix3d to convert.
+      /// \return The equivalent Eigen::Matrix3d.
+      inline Eigen::Matrix3d convert(const gz::math::Matrix3d &_m)
+      {
+        Eigen::Matrix3d matrix;
+        for (std::size_t i=0; i < 3; ++i)
+        {
+          for (std::size_t j=0; j < 3; ++j)
+          {
+            matrix(i, j) = _m(i, j);
+          }
+        }
+
+        return matrix;
+      }
+
+      /// \brief Convert from gz::math::Matrix6d to
+      /// Eigen::Matrix<Precision, 6, 6>.
+      /// \param[in] _m gz::math::Matrix6d to convert.
+      /// \return The equivalent Eigen::Matrix<Precision, 6, 6>.
+      /// \tparam Precision Precision such as int, double or float.
+      template<typename Precision>
+      inline
+      Eigen::Matrix<Precision, 6, 6> convert(const Matrix6<Precision> &_m)
+      {
+        Eigen::Matrix<Precision, 6, 6> matrix;
+        for (std::size_t i = 0; i < 6; ++i)
+        {
+          for (std::size_t j = 0; j < 6; ++j)
+          {
+            matrix(i, j) = _m(i, j);
+          }
+        }
+
+        return matrix;
+      }
+
+      /// \brief Convert gz::math::Quaterniond to Eigen::Quaterniond.
+      /// \param[in] _q gz::math::Quaterniond to convert.
+      /// \return The equivalent Eigen::Quaterniond.
+      inline Eigen::Quaterniond convert(const gz::math::Quaterniond &_q)
+      {
+        Eigen::Quaterniond quat;
+        quat.w() = _q.W();
+        quat.x() = _q.X();
+        quat.y() = _q.Y();
+        quat.z() = _q.Z();
+
+        return quat;
+      }
+
+      /// \brief Convert gz::math::Pose3d to Eigen::Isometry3d.
+      /// \param[in] _pose gz::math::Pose3d to convert.
+      /// \return The equivalent Eigen::Isometry3d.
+      inline Eigen::Isometry3d convert(const gz::math::Pose3d &_pose)
+      {
+        Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
+        tf.translation() = convert(_pose.Pos());
+        tf.linear() = Eigen::Matrix3d(convert(_pose.Rot()));
+
+        return tf;
+      }
+
+      /// \brief Convert Eigen::Vector3d to gz::math::Vector3d.
+      /// \param[in] _v Eigen::Vector3d to convert.
+      /// \return The equivalent gz::math::Vector3d.
+      inline gz::math::Vector3d convert(const Eigen::Vector3d &_v)
+      {
+        gz::math::Vector3d vec;
+        vec.X() = _v[0];
+        vec.Y() = _v[1];
+        vec.Z() = _v[2];
+
+        return vec;
+      }
+
+      /// \brief Convert Eigen::AlignedBox3d to gz::math::AxisAlignedBox.
+      /// \param[in] _b Eigen::AlignedBox3d to convert.
+      /// \return The equivalent gz::math::AxisAlignedBox.
+      inline gz::math::AxisAlignedBox convert(
+          const Eigen::AlignedBox3d &_b)
+      {
+        gz::math::AxisAlignedBox box;
+        box.Min() = convert(_b.min());
+        box.Max() = convert(_b.max());
+
+        return box;
+      }
+
+      /// \brief Convert Eigen::Matrix3d to gz::math::Matrix3d.
+      /// \param[in] _m Eigen::Matrix3d to convert.
+      /// \return The equivalent gz::math::Matrix3d.
+      inline gz::math::Matrix3d convert(const Eigen::Matrix3d &_m)
+      {
+        gz::math::Matrix3d matrix;
+        for (std::size_t i=0; i < 3; ++i)
+        {
+          for (std::size_t j=0; j < 3; ++j)
+          {
+            matrix(i, j) = _m(i, j);
+          }
+        }
+
+        return matrix;
+      }
+
+      /// \brief Convert Eigen::Matrix<Precision, 6, 6> to
+      /// gz::math::Matrix6d.
+      /// \param[in] _m Eigen::Matrix<Precision, 6, 6> to convert.
+      /// \return The equivalent gz::math::Matrix6d.
+      /// \tparam Precision Precision such as int, double or float.
+      template<typename Precision>
+      inline
+      Matrix6<Precision> convert(const Eigen::Matrix<Precision, 6, 6> &_m)
+      {
+        Matrix6<Precision> matrix;
+        for (std::size_t i = 0; i < 6; ++i)
+        {
+          for (std::size_t j = 0; j < 6; ++j)
+          {
+            matrix(i, j) = _m(i, j);
+          }
+        }
+
+        return matrix;
+      }
+
+      /// \brief Convert Eigen::Quaterniond to gz::math::Quaterniond.
+      /// \param[in] _q Eigen::Quaterniond to convert.
+      /// \return The equivalent gz::math::Quaterniond.
+      inline gz::math::Quaterniond convert(const Eigen::Quaterniond &_q)
+      {
+        gz::math::Quaterniond quat;
+        quat.W() = _q.w();
+        quat.X() = _q.x();
+        quat.Y() = _q.y();
+        quat.Z() = _q.z();
+
+        return quat;
+      }
+
+      /// \brief Convert Eigen::Isometry3d to gz::math::Pose3d.
+      /// \param[in] _tf Eigen::Isometry3d to convert.
+      /// \return The equivalent gz::math::Pose3d.
+      inline gz::math::Pose3d convert(const Eigen::Isometry3d &_tf)
+      {
+        gz::math::Pose3d pose;
+        pose.Pos() = convert(Eigen::Vector3d(_tf.translation()));
+        pose.Rot() = convert(Eigen::Quaterniond(_tf.linear()));
+
+        return pose;
+      }
+    }
+  }
+}
+
+#endif