Gazebo Math

API Reference

7.5.1
Installation

Next Tutorial: C++ Get Started

These instructions are for installing only Gazebo Math. If you're interested in using all the Gazebo libraries, check out this Gazebo installation.

We recommend following the Binary Installation instructions to get up and running as quickly and painlessly as possible.

The Source Installation instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.

Binary Installation

Ubuntu Linux

First install some necessary tools:

sudo apt-get update
sudo apt-get install lsb-release wget gnupg

Then, setup your computer to accept software from packages.osrfoundation.org:

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update

Install Gazebo Math:

sudo apt install libgz-math<#>-dev

Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need. From version 7 you should use gz-math<#> but for lower versions you should use ign-math<#>.

macOS

On macOS, after installing the Homebrew package manager, add OSRF packages:

brew tap osrf/simulation

Install Gazebo Math:

brew install gz-math<#>

Be sure to replace <#> with a number value, such as 6 or 7, depending on which version you need.

Windows

Install Conda package management system. Miniconda suffices.

Create if necessary, and activate a Conda environment:

conda create -n gz-ws
conda activate gz-ws

Install:

conda install libgz-math<#> --channel conda-forge

Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need. From version 7 you should use gz-math<#> but for lower versions you should use ign-math<#>.

Source Installation

Source installation can be performed by first installing the necessary prerequisites followed by building from source.

Prerequisites

Gazebo Math requires:

Ubuntu Linux

The optional Eigen component of Gazebo Math requires:

  • Eigen. Refer to the Eigen Documentation for installation instructions. On Ubuntu systems, apt-get can be used to install Eigen:
    sudo apt-get install libeigen3-dev

The optional Python bindings of Gazebo Math require:

  • Pybind11. Refer to the Pybind11 Documentation for installation instructions. On Ubuntu systems, apt-get can be used to install Pybind11:
    sudo apt-get install python3-pybind11

The optional Ruby tests of Gazebo Math require:

  • Ruby. Refer to the Ruby Documentation for installation instructions. On Ubuntu systems apt-get can be used to install Ubuntu Package ruby-dev:
    sudo apt-get install ruby-dev
  • Swig. Refer to the Swig Documentation for installation instructions. On Ubuntu systems apt-get can be used to install Swig:
    sudo apt-get install swig

Windows 10

First, follow the gz-cmake tutorial for installing Conda, Visual Studio, CMake, and other prerequisites, and also for creating a Conda environment.

The optional Eigen component of Gazebo Math requires:

  • Eigen. Refer to the Eigen Documentation for installation instructions. On Windows, we will use conda to install Eigen:
    conda install eigen --channel conda-forge

Building from Source

Ubuntu

  1. Install tools
    sudo apt install -y build-essential cmake g++-8 git gnupg lsb-release wget
  2. Install dependencies
    sudo apt -y install \
    $(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | tr '\n' ' '))
  3. Clone the repository
    git clone https://github.com/gazebosim/gz-math -b gz-math<#>
    Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need. From version 7 you should use gz-math<#> but for lower versions you should use ign-math<#>.
  4. Configure and build
    cd gz-math
    mkdir build
    cd build
    cmake ..
    make
  5. Optionally, install
    sudo make install

macOS

  1. Clone the repository
    git clone https://github.com/gazebosim/gz-math -b gz-math<#>
    Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need. From version 7 you should use gz-math<#> but for lower versions you should use ign-math<#>.
  2. Install dependencies
    brew install --only-dependencies gz-math<#>
    Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need. From version 7 you should use gz-math<#> but for lower versions you should use ign-math<#>.
  3. Configure and build
    cd gz-math
    mkdir build
    cd build
    cmake ..
    make
  4. Optionally, install
    sudo make install

Windows

  1. Navigate to condabin if necessary to use the conda command (i.e., if Conda is not in your PATH environment variable. You can find the location of condabin in Anaconda Prompt, where conda). Activate the Conda environment created in the prerequisites:
    conda activate gz-ws

  2. Install dependencies

    You can view available versions and their dependencies:

    conda search libgz-math* --channel conda-forge --info

    From version 7 you should use gz-math<#> but for lower versions you should use ign-math<#>. See the Conda release repository for more information.

    Install dependencies, replacing <#> with the desired version:

    conda install libgz-cmake<#> --channel conda-forge
  3. Navigate to where you would like to build the library, and clone the repository.
    # Optionally, append `-b gz-math#` (replace # with a number) to check out a specific version
    git clone https://github.com/gazebosim/gz-math.git
    From version 7 you should use gz-math<#> but for lower versions you should use ign-math<#>.
  4. Configure and build
    cd gz-math
    mkdir build
    cd build
    cmake .. -DBUILD_TESTING=OFF # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
    cmake --build . --config Release
  5. Optionally, install
    cmake --install . --config Release

cmake parameters

Name Type Default Description
SKIP_PYBIND11 BOOL OFF Set to ON to skip building python bindings

Building Python bindings separately from main library

If you want to build Python bindings separately from the main gz-math library (for example if you want to build Python bindings for multiple versions of Python), you can invoke cmake on the src/python_pybind11 folder instead of the root folder. This requires cmake version 3.22.1 due to the use of a CMAKE_REQUIRE_FIND_PACKAGE_* variable, which is newer than the minimum required version of cmake for gz-math7. Specify the path to the python executable with which you wish to build bindings in the Python3_EXECUTABLE cmake variable. Specify the install path for the bindings in the CMAKE_INSTALL_PREFIX variable, and be sure to set your PYTHONPATH accordingly after install.

cd gz-math
mkdir build_python3
cd build_python3
cmake ../src/python_pybind11 \
-DPython3_EXECUTABLE=/usr/local/bin/python3.12 \
-DCMAKE_INSTALL_PREFIX=<prefix>

See the homebrew gz-math8 formula for an example of building bindings for multiple versions of Python.

Documentation

API and tutorials can be found at https://gazebosim.org/libs/math.

You can also generate the documentation from a clone of this repository by following these steps.

  1. You will need Doxygen. On Ubuntu Doxygen can be installed using
    sudo apt-get install doxygen
  2. Clone the repository
    git clone https://github.com/gazebosim/gz-math
  3. Configure and build the documentation.
    cd gz-math; mkdir build; cd build; cmake ../; make doc
  4. View the documentation by running the following command from the build directory.
    firefox doxygen/html/index.html

Testing

Follow these steps to run tests and static code analysis in your clone of this repository.

  1. Follow the source install instruction.
  2. Run tests.
    make test
  3. Static code checker.
    make codecheck

Ruby Tests

Usage

The C++ classes are available in Ruby code by interface files (.i) used by swig to build a C++ extension module.

The interfaces and Ruby test codes are in the src folder. To use a C++ class in Ruby you need to:

  1. Create an interface file describing the class as in Swig and Ruby reference at The Ruby-to-C/C++ Mapping
  2. Include the interface file in /src/ing_math.i
  3. Create the Ruby file and import the class as in Swig and Ruby reference at C++ Classes

Tests

make test already runs all tests, including the ones made in Ruby, but you can run a Ruby test individually using

ctest -R Ruby_TEST.rb