Adds python interface to PID and SemanticVersion.

[LolaSegura]

Signed-off-by: LolaSegura [email protected]

🎉 New feature

Related to #101 #210

Summary

Adds Python interface for two math classes: PID, SemanticVersion. For each class a python test has been created.

Related issues and notes

PID

• A copy constructor was added to the python class. The PID C++ class didn't have one defined, and, because on python the operator= is not supported, there was no way to copy two variables of type PID.
• The Update(const double _error, const std::chrono::duration<double> &_dt) method received a variable of type std::chrono::duration. To give support to this method in python a new update function was defined using the %extend command. This new update method receives a variable of type double double Update(const double error, double dt).
• The void Errors(double &_pe, double &_ie, double &_de) const; method changed the values of the arguments inside it. For native types swig has a way to handle this using the %apply <type> *OUTPUT {} directive. So in python this method can be used as [pe, ie, de] = pid.errors()
• The %rename command is failing on adding and under case when the variable name is conformed by one letter and a world, for example, PGain() was being renamed as pgain() instead of p_gain(). So this cases where contemplated using an specific %rename tag.

SemanticVersion

• The std_string.i module was added in order to work with std::string.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

Merging #229 (cff698e) into ign-math6 (3eae090) will not change coverage.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           ign-math6     #229   +/-   ##
==========================================
  Coverage      99.21%   99.21%           
==========================================
  Files             65       65           
  Lines           6089     6089           
==========================================
  Hits            6041     6041           
  Misses            48       48           

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[francocipollone]

LGTM, just some nits

[francocipollone]

I've removed the draft label. @LolaSegura Let me know if there is something that is missing

[francocipollone]

LGTM
@scpeters @chapulina It is ready for a review!

[chapulina]

LGTM!

The Update(const double _error, const std::chrono::duration &_dt) method received a variable of type std::chrono::duration. To give support to this method in python a new update function was defined using the %extend command. This new update method receives a variable of type double double Update(const double error, double dt).

I think this is ok for now, but maybe in the future we should look into using python time to be more expressive?

[francocipollone]

LGTM!

The Update(const double _error, const std::chrono::duration &_dt) method received a variable of type std::chrono::duration. To give support to this method in python a new update function was defined using the %extend command. This new update method receives a variable of type double double Update(const double error, double dt).

I think this is ok for now, but maybe in the future we should look into using python time to be more expressive?

Agree. I think that we should provide a conversion from std::chrono to python time. Sadly, swig doesn't provide bindings as it does for std::string(std_string.p) or std::map (std_map.i) so probably creating a std_chrono.i might be useful to have, keeping in mind that there is this other class, Stopwatch, that also uses std::chrono extensively.