Merged in issue_101_pose (pull request gazebosim#329)

8. Updating pose

Approved-by: Steve Peters <[email protected]>

Changelog.md

@@ -11,8 +11,9 @@
     * [Pull request 319](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/319)
 
 1. Updates per issue #101.
-    * Quaternion: [Pull request 327](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/327)
     * Matrix3: [Pull request 328](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/328)
+    * Pose: [Pull request 329](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/329)
+    * Quaternion: [Pull request 327](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/327)
 
 1. Removed deprecations.
     * [Pull request 320](https://bitbucket.org/ignitionrobotics/ign-math/pull-requests/320)

examples/CMakeLists.txt

@@ -16,6 +16,9 @@ target_link_libraries(graph_example ignition-math${IGN_MATH_VER}::ignition-math$
 add_executable(matrix3_example matrix3_example.cc)
 target_link_libraries(matrix3_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 
+add_executable(pose3_example pose3_example.cc)
+target_link_libraries(pose3_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
+
 add_executable(quaternion_example quaternion_example.cc)
 target_link_libraries(quaternion_example ignition-math${IGN_MATH_VER}::ignition-math${IGN_MATH_VER})
 

examples/pose3_example.cc

@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2019 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.
+ *
+*/
+//! [complete]
+#include <iostream>
+#include <ignition/math/Pose3.hh>
+
+int main(int argc, char **argv)
+{
+  // Construct a default Pose3d.
+  ignition::math::Pose3d p;
+  std::cout << "A default Pose3d has the following values\n"
+    << p << std::endl;
+
+  // Construct a pose at position 1, 2, 3 with a yaw of PI radians.
+  ignition::math::Pose3d p1(1, 2, 3, 0, 0, IGN_PI);
+  std::cout << "A pose3d(1, 2, 3, 0, 0, IGN_PI) has the following values\n"
+    << p1 << std::endl;
+
+  // Set the position of a pose to 10, 20, 30
+  p.Pos().Set(10, 20, 30);
+
+  // Combine two poses, and store the result in a new pose
+  ignition::math::Pose3d p3 = p * p1;
+  std::cout << "Result of adding two poses together is\n"
+   << p3 << std::endl;
+}
+//! [complete]

examples/pose3_example.rb

@@ -0,0 +1,43 @@
+# Copyright (C) 2019 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.
+
+# This example will only work if the Ruby interface library was compiled and
+# installed.
+#
+# Modify the RUBYLIB environment variable to include the ignition math
+# library install path. For example, if you install to /user:
+#
+# $ export RUBYLIB=/usr/lib/ruby:$RUBYLIB
+#
+require 'ignition/math'
+
+# Construct a default Pose3d.
+p = Ignition::Math::Pose3d.new
+printf("A default Pose3d has the following values\n" +
+       "%f %f %f %f %f %f\n", p.Pos().X(), p.Pos().Y(), p.Pos().Z(),
+       p.Rot().Euler().X(), p.Rot().Euler().Y(), p.Rot().Euler().Z())
+
+# Construct a pose at position 1, 2, 3 with a yaw of PI radians.
+p1 = Ignition::Math::Pose3d.new(1, 2, 3, 0, 0, Math::PI)
+printf("A pose3d(1, 2, 3, 0, 0, IGN_PI) has the following values\n" +
+       "%f %f %f %f %f %f\n", p1.Pos().X(), p1.Pos().Y(), p1.Pos().Z(),
+       p1.Rot().Euler().X(), p1.Rot().Euler().Y(), p1.Rot().Euler().Z())
+
+# Set the position of a pose to 10, 20, 30
+p.Pos().Set(10, 20, 30)
+
+p3 = p * p1
+printf("Result of combining two poses is\n"+
+        "%f %f %f %f %f %f\n", p3.Pos().X(), p3.Pos().Y(), p3.Pos().Z(),
+       p3.Rot().Euler().X(), p3.Rot().Euler().Y(), p3.Rot().Euler().Z())

include/ignition/math/OrientedBox.hh

@@ -277,7 +277,6 @@ namespace ignition
       private: ignition::math::Material material;
     };
 
-    typedef OrientedBox<int> OrientedBoxi;
     typedef OrientedBox<double> OrientedBoxd;
     typedef OrientedBox<float> OrientedBoxf;
     }