Merge branch 'gz-math7' into gz-math7

include/gz/math/Box.hh

@@ -17,6 +17,7 @@
 #ifndef GZ_MATH_BOX_HH_
 #define GZ_MATH_BOX_HH_
 
+#include <optional>
 #include <gz/math/config.hh>
 #include <gz/math/MassMatrix3.hh>
 #include <gz/math/Material.hh>
@@ -189,6 +190,14 @@ namespace gz
  /// could be due to an invalid size (<=0) or density (<=0).
  public: bool MassMatrix(MassMatrix3<Precision> &_massMat) const;
 
+ /// \brief Get the mass matrix for this box. This function
+ /// is only meaningful if the box's size and material
+ /// have been set.
+ /// \return The computed mass matrix if parameters are valid
+ /// (radius > 0), (length > 0), and (density > 0). Otherwise
+ /// std::nullopt is returned.
+ public: std::optional< MassMatrix3<Precision> > MassMatrix() const;
+
  /// \brief Get intersection between a plane and the box's edges.
  /// Edges contained on the plane are ignored.
  /// \param[in] _plane The plane against which we are testing intersection.

include/gz/math/Cylinder.hh

@@ -17,6 +17,7 @@
 #ifndef GZ_MATH_CYLINDER_HH_
 #define GZ_MATH_CYLINDER_HH_
 
+#include <optional>
 #include "gz/math/MassMatrix3.hh"
 #include "gz/math/Material.hh"
 #include "gz/math/Quaternion.hh"
@@ -115,6 +116,14 @@ namespace gz
  /// (<=0).
  public: bool MassMatrix(MassMatrix3d &_massMat) const;
 
+ /// \brief Get the mass matrix for this cylinder. This function
+ /// is only meaningful if the cylinder's radius, length, and material
+ /// have been set. Optionally, set the rotational offset.
+ /// \return The computed mass matrix if parameters are valid
+ /// (radius > 0), (length > 0) and (density > 0). Otherwise
+ /// std::nullopt is returned.
+ public: std::optional< MassMatrix3<Precision> > MassMatrix() const;
+
  /// \brief Check if this cylinder is equal to the provided cylinder.
  /// Radius, length, and material properties will be checked.
  public: bool operator==(const Cylinder &_cylinder) const;

include/gz/math/Sphere.hh

@@ -17,6 +17,7 @@
 #ifndef GZ_MATH_SPHERE_HH_
 #define GZ_MATH_SPHERE_HH_
 
+#include <optional>
 #include "gz/math/MassMatrix3.hh"
 #include "gz/math/Material.hh"
 #include "gz/math/Quaternion.hh"
@@ -77,6 +78,13 @@ namespace gz
  /// could be due to an invalid radius (<=0) or density (<=0).
  public: bool MassMatrix(MassMatrix3d &_massMat) const;
 
+ /// \brief Get the mass matrix for this sphere. This function
+ /// is only meaningful if the sphere's radius and material have been set.
+ /// \return The computed mass matrix if parameters are valid
+ /// (radius > 0) and (density > 0). Otherwise
+ /// std::nullopt is returned.
+ public: std::optional< MassMatrix3<Precision> > MassMatrix() const;
+
  /// \brief Check if this sphere is equal to the provided sphere.
  /// Radius and material properties will be checked.
  public: bool operator==(const Sphere &_sphere) const;

include/gz/math/detail/Box.hh

@@ -19,6 +19,7 @@
 
 #include "gz/math/Triangle3.hh"
 
+#include <optional>
 #include <algorithm>
 #include <set>
 #include <utility>
@@ -310,6 +311,21 @@ bool Box<T>::MassMatrix(MassMatrix3<T> &_massMat) const
  return _massMat.SetFromBox(this->material, this->size);
 }
 
+/////////////////////////////////////////////////
+template<typename T>
+std::optional< MassMatrix3<T> > Box<T>::MassMatrix() const
+{
+ gz::math::MassMatrix3<T> _massMat;
+
+ if(!_massMat.SetFromBox(this->material, this->size))
+ {
+ return std::nullopt;
+ }
+ else
+ {
+ return std::make_optional(_massMat);
+ }
+}
 
 //////////////////////////////////////////////////
 template<typename T>

include/gz/math/detail/Cylinder.hh

@@ -16,6 +16,9 @@
 */
 #ifndef GZ_MATH_DETAIL_CYLINDER_HH_
 #define GZ_MATH_DETAIL_CYLINDER_HH_
+
+#include <optional>
+
 namespace gz
 {
 namespace math
@@ -116,6 +119,24 @@ bool Cylinder<T>::MassMatrix(MassMatrix3d &_massMat) const
  this->radius, this->rotOffset);
 }
 
+//////////////////////////////////////////////////
+template<typename T>
+std::optional < MassMatrix3<T> > Cylinder<T>::MassMatrix() const
+{
+ gz::math::MassMatrix3<T> _massMat;
+
+ if(!_massMat.SetFromCylinderZ(
+ this->material, this->length,
+ this->radius, this->rotOffset))
+ {
+ return std::nullopt;
+ }
+ else
+ {
+ return std::make_optional(_massMat);
+ }
+}
+
 //////////////////////////////////////////////////
 template<typename T>
 T Cylinder<T>::Volume() const

include/gz/math/detail/Sphere.hh

@@ -17,6 +17,7 @@
 #ifndef GZ_MATH_DETAIL_SPHERE_HH_
 #define GZ_MATH_DETAIL_SPHERE_HH_
 
+#include <optional>
 #include "gz/math/Sphere.hh"
 
 namespace gz
@@ -88,6 +89,23 @@ bool Sphere<T>::MassMatrix(MassMatrix3d &_massMat) const
  return _massMat.SetFromSphere(this->material, this->radius);
 }
 
+//////////////////////////////////////////////////
+template<typename T>
+std::optional < MassMatrix3<T> > Sphere<T>::MassMatrix() const
+{
+ gz::math::MassMatrix3<T> _massMat;
+
+ if(!_massMat.SetFromSphere(this->material, this->radius))
+ {
+ return std::nullopt;
+ }
+ else
+ {
+ return std::make_optional(_massMat);
+ }
+}
+
+
 //////////////////////////////////////////////////
 template<typename T>
 T Sphere<T>::Volume() const

src/Box_TEST.cc

@@ -498,4 +498,10 @@ TEST(BoxTest, Mass)
  box.MassMatrix(massMat);
  EXPECT_EQ(expectedMassMat, massMat);
  EXPECT_DOUBLE_EQ(expectedMassMat.Mass(), massMat.Mass());
+
+ auto massMatOpt = box.MassMatrix();
+ ASSERT_NE(std::nullopt, massMatOpt);
+ EXPECT_EQ(expectedMassMat, *massMatOpt);
+ EXPECT_EQ(expectedMassMat.DiagonalMoments(), massMatOpt->DiagonalMoments());
+ EXPECT_DOUBLE_EQ(expectedMassMat.Mass(), massMatOpt->Mass());
 }

src/Cylinder_TEST.cc

@@ -136,4 +136,10 @@ TEST(CylinderTest, Mass)
  cylinder.MassMatrix(massMat);
  EXPECT_EQ(expectedMassMat, massMat);
  EXPECT_DOUBLE_EQ(expectedMassMat.Mass(), massMat.Mass());
+
+ auto massMatOpt = cylinder.MassMatrix();
+ ASSERT_NE(std::nullopt, massMatOpt);
+ EXPECT_EQ(expectedMassMat, *massMatOpt);
+ EXPECT_EQ(expectedMassMat.DiagonalMoments(), massMatOpt->DiagonalMoments());
+ EXPECT_DOUBLE_EQ(expectedMassMat.Mass(), massMatOpt->Mass());
 }

src/Sphere_TEST.cc

@@ -129,6 +129,12 @@ TEST(SphereTest, Mass)
  sphere.MassMatrix(massMat);
  EXPECT_EQ(expectedMassMat, massMat);
  EXPECT_DOUBLE_EQ(expectedMassMat.Mass(), massMat.Mass());
+
+ auto massMatOpt = sphere.MassMatrix();
+ ASSERT_NE(std::nullopt, massMatOpt);
+ EXPECT_EQ(expectedMassMat, *massMatOpt);
+ EXPECT_EQ(expectedMassMat.DiagonalMoments(), massMatOpt->DiagonalMoments());
+ EXPECT_DOUBLE_EQ(expectedMassMat.Mass(), massMatOpt->Mass());
 }
 
 //////////////////////////////////////////////////

src/python_pybind11/src/Box.hh

@@ -105,11 +105,17 @@ void defineMathBox(py::module &m, const std::string &typestr)
  .def("set_density_from_mass",
  &Class::SetDensityFromMass,
  "Set the density of this box based on a mass value.")
- .def("mass_matrix",
- &Class::MassMatrix,
- "Get the mass matrix for this box. This function "
- "is only meaningful if the box's size and material "
- "have been set.")
+ .def("mass_matrix",
+ py::overload_cast<>(&Class::MassMatrix, py::const_),
+ "Get the mass matrix for this box. This function "
+ "is only meaningful if the box's size and material "
+ "have been set.")
+ .def("mass_matrix",
+ py::overload_cast<gz::math::MassMatrix3<T>&>
+ (&Class::MassMatrix, py::const_),
+ "Get the mass matrix for this box. This function "
+ "is only meaningful if the box's size and material "
+ "have been set.")
  .def("intersections",
  [](const Class &self, const Plane<T> &_plane)
  {

src/python_pybind11/src/Cylinder.hh

@@ -97,11 +97,17 @@ void defineMathCylinder(py::module &m, const std::string &typestr)
  .def("set_density_from_mass",
  &Class::SetDensityFromMass,
  "Set the density of this box based on a mass value.")
- .def("mass_matrix",
- &Class::MassMatrix,
- "Get the mass matrix for this box. This function "
- "is only meaningful if the box's size and material "
- "have been set.")
+ .def("mass_matrix",
+ py::overload_cast<>(&Class::MassMatrix, py::const_),
+ "Get the mass matrix for this box. This function "
+ "is only meaningful if the box's size and material "
+ "have been set.")
+ .def("mass_matrix",
+ py::overload_cast<gz::math::MassMatrix3<T>&>
+ (&Class::MassMatrix, py::const_),
+ "Get the mass matrix for this box. This function "
+ "is only meaningful if the box's size and material "
+ "have been set.")
  .def("__copy__", [](const Class &self) {
  return Class(self);
  })

src/python_pybind11/src/Sphere.hh

@@ -83,11 +83,17 @@ void defineMathSphere(py::module &m, const std::string &typestr)
  .def("set_density_from_mass",
  &Class::SetDensityFromMass,
  "Set the density of this box based on a mass value.")
- .def("mass_matrix",
- &Class::MassMatrix,
- "Get the mass matrix for this box. This function "
- "is only meaningful if the box's size and material "
- "have been set.")
+ .def("mass_matrix",
+ py::overload_cast<>(&Class::MassMatrix, py::const_),
+ "Get the mass matrix for this box. This function "
+ "is only meaningful if the box's size and material "
+ "have been set.")
+ .def("mass_matrix",
+ py::overload_cast<gz::math::MassMatrix3<T>&>
+ (&Class::MassMatrix, py::const_),
+ "Get the mass matrix for this box. This function "
+ "is only meaningful if the box's size and material "
+ "have been set.")
  .def("__copy__", [](const Class &self) {
  return Class(self);
  })

src/python_pybind11/test/Box_TEST.py

@@ -401,6 +401,11 @@ def test_mass(self):
  self.assertEqual(expectedMassMat, massMat)
  self.assertEqual(expectedMassMat.mass(), massMat.mass())
 
+ massMat2 = box.mass_matrix()
+ self.assertEqual(expectedMassMat, massMat2)
+ self.assertEqual(expectedMassMat.diagonal_moments(), massMat2.diagonal_moments())
+ self.assertEqual(expectedMassMat.mass(), massMat2.mass())
+
 
 if __name__ == '__main__':
  unittest.main()

src/python_pybind11/test/Cylinder_TEST.py

@@ -114,6 +114,11 @@ def test_mass(self):
  self.assertEqual(expectedMassMat, massMat)
  self.assertEqual(expectedMassMat.mass(), massMat.mass())
 
+ massMat2 = cylinder.mass_matrix()
+ self.assertEqual(expectedMassMat, massMat2)
+ self.assertEqual(expectedMassMat.diagonal_moments(), massMat2.diagonal_moments())
+ self.assertEqual(expectedMassMat.mass(), massMat2.mass())
+
 
 if __name__ == '__main__':
  unittest.main()

src/python_pybind11/test/Sphere_TEST.py

@@ -108,6 +108,11 @@ def test_mass(self):
  self.assertEqual(expectedMassMat, massMat)
  self.assertEqual(expectedMassMat.mass(), massMat.mass())
 
+ massMat2 = sphere.mass_matrix()
+ self.assertEqual(expectedMassMat, massMat2)
+ self.assertEqual(expectedMassMat.diagonal_moments(), massMat2.diagonal_moments())
+ self.assertEqual(expectedMassMat.mass(), massMat2.mass())
+
  def test_volume_below(self):
 
  r = 2