Add basic numpy conversions (#18)

* Add basic numpy conversions

* Add unittests | Fix bugs

* Add .gitignore

* Fix feedforward in unittests

* Fix docstrings

.gitignore

@@ -0,0 +1,17 @@
+# Byte-compiled / optimized / DLL files
+**/__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Linter cache
+*.ruff_cache
+
+# Colcon custom files
+COLCON_IGNORE
+AMENT_IGNORE
+
+# VS Code
+.vscode

CMakeLists.txt

@@ -43,11 +43,28 @@ if(BUILD_TESTING)
   ament_add_gtest(test_eigen_conversions tests/test_eigen_conversions.cpp
                   tests/gtest_main.cpp)
   target_link_libraries(test_eigen_conversions ${PROJECT_NAME}_conversion)
+
+  find_package(ament_cmake_pytest REQUIRED)
+  set(_pytest_tests
+    tests/test_numpy_conversions.py
+  )
+  foreach(_test_path ${_pytest_tests})
+    get_filename_component(_test_name ${_test_path} NAME_WE)
+    ament_add_pytest_test(${_test_name} ${_test_path}
+      APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+      TIMEOUT 60
+      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    )
+  endforeach()
 endif()
 
 #
 # Install
 #
+
+# Install Python modules
+ament_python_install_package(${PROJECT_NAME}_py)
+
 install(
   TARGETS ${PROJECT_NAME}_conversion
   EXPORT export_${PROJECT_NAME}

linear_feedback_controller_msgs_py/lfc_py_types.py

@@ -0,0 +1,54 @@
+from typing import Annotated, List, Literal
+from dataclasses import dataclass
+import numpy as np
+import numpy.typing as npt
+
+np_array6 = Annotated[npt.NDArray[np.float64], Literal[6]]
+np_array7 = Annotated[npt.NDArray[np.float64], Literal[7]]
+
+
+@dataclass
+class JointState:
+    """Structure containing JointState information similarly to ROS message
+    sensor_msgs.msg.JointState.
+    """
+
+    name: List[str]
+    position: npt.NDArray[np.float64]
+    velocity: npt.NDArray[np.float64]
+    effort: npt.NDArray[np.float64]
+
+
+@dataclass
+class Contact:
+    """Structure containing Contact information similarly to ROS message
+    linear_feedback_controller_msgs.msg.Contact.
+    """
+
+    active: bool
+    name: str
+    wrench: np_array6
+    pose: np_array7
+
+
+@dataclass
+class Sensor:
+    """Structure containing Sensor information similarly to ROS message
+    linear_feedback_controller_msgs.msg.Sensor.
+    """
+
+    base_pose: np_array7
+    base_twist: np_array6
+    joint_state: JointState
+    contacts: List[Contact]
+
+
+@dataclass
+class Control:
+    """Structure containing Control information similarly to ROS message
+    linear_feedback_controller_msgs.msg.Control.
+    """
+
+    feedback_gain: npt.NDArray[np.float64]
+    feedforward: npt.NDArray[np.float64]
+    initial_state: Sensor