Adds python interface to RollingMean, Color and Spline (#218)

* Adds scripting interface to Color and a python test.
* Adds scripting interface to Spline and a python test.
* Adds python support for operator[] and operator<< to the Color class.
* Adds %rename tag to interface files in order to match pep-8 naiming style.

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

Co-authored-by: Steve Peters <[email protected]>
Co-authored-by: Franco Cipollone <[email protected]>

src/python/CMakeLists.txt

@@ -13,16 +13,6 @@ if (SWIG_FOUND)
 
   include_directories(${PROJECT_SOURCE_DIR}/include)
   include_directories(${PYTHON_INCLUDE_PATH})
-
-  set(swig_files
-    Angle
-    GaussMarkovProcess
-    PID
-    Rand
-    SemanticVersion
-    Vector2
-    Vector3
-    Vector4)
 endif()
 
 #################################
@@ -71,21 +61,24 @@ if (PYTHONLIBS_FOUND)
     # Add the Python tests
     set(python_tests
       Angle_TEST
+      Color_TEST
       GaussMarkovProcess_TEST
       Kmeans_TEST
       Line2_TEST
       Line3_TEST
       PID_TEST
       python_TEST
       Rand_TEST
+      RollingMean_TEST
       SemanticVersion_TEST
       SignalStats_TEST
+      Spline_TEST
+      Temperature_TEST
+      Triangle_TEST
       Vector2_TEST
       Vector3_TEST
       Vector3Stats_TEST
       Vector4_TEST
-      Temperature_TEST
-      Triangle_TEST
     )
 
     foreach (test ${python_tests})

src/python/Color.i

@@ -0,0 +1,109 @@
+/*
+ * Copyright (C) 2021 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.
+ *
+*/
+
+%module Color
+%{
+#include <ignition/math/Color.hh>
+#include <ignition/math/config.hh>
+#include <ignition/math/Helpers.hh>
+#include <ignition/math/Vector3.hh>
+%}
+
+%include "std_string.i"
+
+namespace ignition
+{
+  namespace math
+  {
+      class Color
+      {
+        %rename("%(undercase)s", %$isfunction, %$ismember, %$not %$isconstructor) "";
+        %rename("%(uppercase)s", %$isstatic, %$isvariable) "";
+        public: static const Color White;
+        public: static const Color Black;
+        public: static const Color Red;
+        public: static const Color Green;
+        public: static const Color Blue;
+        public: static const Color Yellow;
+        public: static const Color Magenta;
+        public: static const Color Cyan;
+        public: typedef unsigned int RGBA;
+        public: typedef unsigned int BGRA;
+        public: typedef unsigned int ARGB;
+        public: typedef unsigned int ABGR;
+
+        public: Color();
+        public: Color(const float _r, const float _g, const float _b,
+                    const float _a = 1.0);
+        public: Color(const Color &_clr);
+        public: virtual ~Color();
+        public: void Reset();
+        public: void Set(const float _r = 1, const float _g = 1,
+                    const float _b = 1, const float _a = 1);
+        public: Vector3<float> HSV() const;
+        public: void SetFromHSV(const float _h, const float _s, const float _v);
+        public: Vector3<float> YUV() const;
+        public: void SetFromYUV(const float _y, const float _u, const float _v);
+        public: RGBA AsRGBA() const;
+        public: BGRA AsBGRA() const;
+        public: ARGB AsARGB() const;
+        public: ABGR AsABGR() const;
+        public: void SetFromRGBA(const RGBA _v);
+        public: void SetFromBGRA(const BGRA _v);
+        public: void SetFromARGB(const ARGB _v);
+        public: void SetFromABGR(const ABGR _v);
+        public: Color operator+(const Color &_pt) const;
+        public: Color operator+(const float &_v) const;
+        public: const Color &operator+=(const Color &_pt);
+        public: Color operator-(const Color &_pt) const;
+        public: Color operator-(const float &_v) const;
+        public: const Color &operator-=(const Color &_pt);
+        public: const Color operator/(const Color &_pt) const;
+        public: const Color operator/(const float &_v) const;
+        public: const Color &operator/=(const Color &_pt);
+        public: const Color operator*(const Color &_pt) const;
+        public: const Color operator*(const float &_v) const;
+        public: const Color &operator*=(const Color &_pt);
+        public: bool operator==(const Color &_pt) const;
+        public: bool operator!=(const Color &_pt) const;
+        private: void Clamp();
+        public: float R() const;
+        public: float G() const;
+        public: float B() const;
+        public: float A() const;
+        public: void R(const float _r);
+        public: void G(const float _g);
+        public: void B(const float _b);
+        public: void A(const float _a);
+      };
+
+      %extend Color{
+        float __getitem__(const unsigned int i)
+        {
+          return (*$self)[i];
+        }
+      }
+
+      %extend Color {
+        std::string __str__() const {
+          std::ostringstream out;
+          out << *$self;
+          return out.str();
+        }
+      }
+  }
+}