Merge branch 'main' into SPDonaghy/test-pybind11-simple

.devcontainer/base-dev/base-dev.Dockerfile

@@ -374,4 +374,6 @@ ENV DEBIAN_FRONTEND=
 # install dev python3 dependencies
 RUN pip3 install \
     # for juypter notebooks
-    ipykernel
+    ipykernel \
+    # to generate ompl python bindings
+    pybind11

src/boat_simulator/boat_simulator/nodes/physics_engine/fluid_generation.py

@@ -12,15 +12,15 @@ class FluidGenerator:
     """This class provides functionality to generate velocity vectors representing fluid movements.
 
     Attributes:
-        `generator` (VectorGenerator): The vector generator used to generate 3D fluid velocities.
+        `generator` (VectorGenerator): The vector generator used to generate 2D fluid velocities.
         `velocity` (NDArray): The most recently generated fluid velocity vector, expressed in
             meters per second (m/s). It is expected to be a 3D vector.
     """
 
     def __init__(self, generator: VectorGenerator):
         self.__generator = generator
         self.__velocity = np.array(self.__generator.next())
-        assert self.__velocity.shape == (3,)
+        assert self.__velocity.shape == (2,)
 
     def next(self) -> NDArray:
         """Generates the next velocity vector for the fluid simulation.

src/boat_simulator/tests/unit/nodes/physics_engine/test_fluids.py

@@ -11,9 +11,9 @@ class TestFluidGenerator:
     @pytest.mark.parametrize(
         "vector",
         [
-            (np.array([1, 0, 1])),
-            (np.array([0, 1, 0])),
-            (np.array([1, 0, 0])),
+            (np.array([1, 0])),
+            (np.array([0, 1])),
+            (np.array([1, 0])),
         ],
     )
     def test_velocity_constant(self, vector):
@@ -26,10 +26,10 @@ def test_velocity_constant(self, vector):
     @pytest.mark.parametrize(
         "mean, cov",
         [
-            (np.array([1, 2, 0]), np.array([[2, 1, 1], [1, 2, 0.9], [1, 0.9, 1]])),
-            (np.array([4, 5, 3]), np.array([[3, 1, 1], [1, 3, 1], [1, 1, 2]])),
-            (np.array([100, 50, 20]), np.array([[10, 5, 5], [5, 10, 4.5], [5, 4.5, 5]])),
-            (np.array([120, 130, 40]), np.array([[10, 5, 1], [5, 10, 2], [1, 2, 5]])),
+            (np.array([1, 2]), np.array([[2, 1], [1, 2]])),
+            (np.array([4, 5]), np.array([[3, 1], [1, 3]])),
+            (np.array([100, 50]), np.array([[10, 5], [5, 10]])),
+            (np.array([120, 130]), np.array([[10, 5], [5, 10]])),
         ],
     )
     def test_velocity_random(self, mean, cov):
@@ -42,12 +42,12 @@ def test_velocity_random(self, mean, cov):
     @pytest.mark.parametrize(
         "vector",
         [
-            (np.array([1, 0, 1])),
-            (np.array([0, 1, 0])),
-            (np.array([-1, 0, 1])),
-            (np.array([0, -1, 0])),
-            (np.array([1, 1, 1])),
-            (np.array([-1, -1, -1])),
+            (np.array([1, 0])),
+            (np.array([0, 1])),
+            (np.array([-1, 0])),
+            (np.array([0, -1])),
+            (np.array([1, 1])),
+            (np.array([-1, -1])),
         ],
     )
     def test_speed(self, vector):
@@ -60,12 +60,12 @@ def test_speed(self, vector):
     @pytest.mark.parametrize(
         "vector, expected_direction",
         [
-            (np.array([1, 0, 1]), 0),
-            (np.array([0, 1, -3]), 90),
-            (np.array([-1, 0, -1]), -180),
-            (np.array([0, -1, 0]), -90),
-            (np.array([1, 1, 4]), 45),
-            (np.array([-1, -1, 6]), -135),
+            (np.array([1, 0]), 0),
+            (np.array([0, 1]), 90),
+            (np.array([-1, 0]), -180),
+            (np.array([0, -1]), -90),
+            (np.array([1, 1]), 45),
+            (np.array([-1, -1]), -135),
         ],
     )
     def test_direction(self, vector, expected_direction):

src/global_launch/config/README.md

@@ -262,7 +262,7 @@ specified within an array: one for the `x` component, and one for the `y` compon
 
 - _Description_: The mean value for the wind generated, expressed in kilometers per hour (km/h), for the multivariate
 Gaussian generator.
-- _Datatype_: `double` array, length 3
+- _Datatype_: `double` array, length 2
 - _Range_: `(0.0, MAX_DOUBLE)`
 
 **`wind_generation.mvgaussian_params.cov`**
@@ -276,7 +276,7 @@ since ROS parameters do not support native 2D array types.
 
 - _Description_: The mean value for the current generated, expressed in kilometers per hour (km/h), for the multivariate
 Gaussian generator.
-- _Datatype_: `double` array, length 3
+- _Datatype_: `double` array, length 2
 - _Range_: `(0.0, MAX_DOUBLE)`
 
 **`current_generation.mvgaussian_params.cov`**

src/global_launch/config/globals.yaml

@@ -62,12 +62,12 @@ physics_engine_node:
             value: [1.0, 0.0]
       wind_generation:
          mvgaussian_params:
-            mean: [5.0, 5.0, 0.0]
-            cov: "[[25.0, 10.0, 5.0], [10.0, 15.0, 2.0], [5.0, 2.0, 20.0]]"
+            mean: [5.0, 5.0]
+            cov: "[[25.0, 10.0], [10.0, 15.0]]"
       current_generation:
          mvgaussian_params:
-            mean: [1.0, 0.5, 0.0]
-            cov: "[[0.5, 0.1, 0.05], [0.1, 0.3, 0.02], [0.05, 0.02, 0.2]]"
+            mean: [1.0, 0.5]
+            cov: "[[0.5, 0.1], [0.1, 0.3]]"
 data_collection_node:
    ros__parameters:
       file_name: 'ros_data_collection'