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| name: Validate package.xml | ||
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| on: | ||
| pull_request: | ||
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| jobs: | ||
| package-xml: | ||
| runs-on: ubuntu-latest | ||
| name: Validate package.xml | ||
| steps: | ||
| - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy |
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@@ -14,4 +14,3 @@ jobs: | |
| with: | ||
| project-url: https://github.com/orgs/gazebosim/projects/7 | ||
| github-token: ${{ secrets.TRIAGE_TOKEN }} | ||
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| <?xml version="1.0"?> | ||
| <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="2"> | ||
| <name>gz-math8</name> | ||
| <version>8.0.0</version> | ||
| <description>Gazebo Math : Math classes and functions for robot applications</description> | ||
| <maintainer email="[email protected]">Steve Peters</maintainer> | ||
| <maintainer email="[email protected]">Aditya Pande</maintainer> | ||
| <license>Apache License 2.0</license> | ||
| <url type="website">https://github.com/gazebosim/gz-math</url> | ||
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| <buildtool_depend>cmake</buildtool_depend> | ||
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| <build_depend>gz-cmake4</build_depend> | ||
| <build_depend>pybind11-dev</build_depend> | ||
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| <depend>eigen</depend> | ||
| <depend>gz-utils3</depend> | ||
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| <test_depend>python3-pytest</test_depend> | ||
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| <export> | ||
| <build_type>cmake</build_type> | ||
| </export> | ||
| </package> |
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| /* | ||
| * Copyright (C) 2023 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. | ||
| * | ||
| */ | ||
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| #include <string> | ||
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| #include <gz/math/MecanumDriveOdometry.hh> | ||
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| #include "MecanumDriveOdometry.hh" | ||
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| namespace gz | ||
| { | ||
| namespace math | ||
| { | ||
| namespace python | ||
| { | ||
| void defineMathMecanumDriveOdometry(py::module &m, const std::string &typestr) | ||
| { | ||
| using Class = gz::math::MecanumDriveOdometry; | ||
| std::string pyclass_name = typestr; | ||
| py::class_<Class>(m, | ||
| pyclass_name.c_str(), | ||
| py::buffer_protocol()) | ||
| .def(py::init<size_t>(), py::arg("_windowSize") = 10) | ||
| .def("init", &Class::Init, "Initialize the odometry") | ||
| .def("initialized", &Class::Initialized, "Get whether Init has been called.") | ||
| .def("update", | ||
| &Class::Update, | ||
| "Updates the odometry class with latest wheels and " | ||
| "steerings position") | ||
| .def("heading", &Class::Heading, "Get the heading.") | ||
| .def("x", &Class::X, "Get the X position.") | ||
| .def("y", &Class::Y, "Get the Y position.") | ||
| .def("linear_velocity", | ||
| &Class::LinearVelocity, | ||
| "Get the linear velocity.") | ||
| .def("angular_velocity", | ||
| &Class::AngularVelocity, | ||
| "Get the angular velocity.") | ||
| .def("lateral_velocity", | ||
| &Class::LateralVelocity, | ||
| "Get the lateral velocity.") | ||
| .def("set_wheel_params", | ||
| &Class::SetWheelParams, | ||
| "Set the wheel parameters including the radius and separation.") | ||
| .def("set_velocity_rolling_window_size", | ||
| &Class::SetVelocityRollingWindowSize, | ||
| "Set the velocity rolling window size.") | ||
| .def("wheel_separation", &Class::WheelSeparation, "Get the wheel separation") | ||
| .def("wheel_base", &Class::WheelBase, "Get the wheel base") | ||
| .def("left_wheel_radius", | ||
| &Class::LeftWheelRadius, | ||
| "Get the left wheel radius") | ||
| .def("right_wheel_radius", | ||
| &Class::RightWheelRadius, | ||
| "Get the rightwheel radius"); | ||
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| } | ||
| } // namespace python | ||
| } // namespace math | ||
| } // namespace gz |
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