[python] rename math to pprz_math and add algebra module

to use it e.g. in ipython:
PYTHONPATH=$PPRZ_SRC/sw/lib/python iypthon
$ from pprz_math.geodetic import *
or
$ import pprz_math.algebra

sw/airborne/test/math/compare_utm_enu.py

@@ -5,10 +5,9 @@ import sys
 import os
 
 PPRZ_SRC = os.getenv("PAPARAZZI_SRC", "../../../..")
-sys.path.append(PPRZ_SRC + "/sw/lib/python/math")
+sys.path.append(PPRZ_SRC + "/sw/lib/python")
 
-from pprz_geodetic import *
-from math import degrees
+from pprz_math.geodetic import *
 import matplotlib.pyplot as plt
 import numpy as np
 

sw/lib/python/math/.gitignore

@@ -1,3 +0,0 @@
-build
-*.c
-pprz_geodetic.py

sw/lib/python/math/Makefile

@@ -1,7 +0,0 @@
-
-all:
-	swig2.0 -python -keyword -I../../../airborne pprz_geodetic.i
-	python setup.py build_ext --inplace
-
-clean:
-	rm -rf build *.so *.c pprz_geodetic.py

sw/lib/python/math/setup.py

@@ -1,32 +0,0 @@
-#!/usr/bin/env python
-
-"""
-setup.py file for pprz_geodetic math wrapper
-"""
-
-from distutils.core import setup, Extension
-
-from os import path, getenv
-
-# if PAPARAZZI_SRC not set, then assume the tree containing this
-# file is a reasonable substitute
-pprz_src = getenv("PAPARAZZI_SRC", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
-pprz_airborne = path.join(pprz_src, "sw/airborne")
-
-common_inc_dirs = ["./", path.join(pprz_src, "sw/include"), pprz_airborne]
-
-pprz_geodetic_module = Extension('_pprz_geodetic',
-                                   sources=['pprz_geodetic_wrap.c',
-                                            path.join(pprz_airborne, 'math/pprz_geodetic_int.c'),
-                                            path.join(pprz_airborne, 'math/pprz_geodetic_double.c'),
-                                            path.join(pprz_airborne, 'math/pprz_geodetic_float.c')
-                                        ],
-                                   include_dirs=common_inc_dirs)
-
-setup(name='geodetic_double',
-      version='0.1',
-      author="Felix Ruess",
-      description="""Pprz geodetic math wrapper""",
-      ext_modules=[pprz_geodetic_module],
-      py_modules=["pprz_geodetic"],
-      )

sw/lib/python/pprz_math/.gitignore

@@ -0,0 +1,4 @@
+build
+*.c
+geodetic.py
+algebra.py

sw/lib/python/pprz_math/Makefile

@@ -0,0 +1,8 @@
+
+all:
+	swig2.0 -python -keyword -I../../../airborne geodetic.i
+	swig2.0 -python -keyword -I../../../airborne algebra.i
+	python setup.py build_ext --inplace
+
+clean:
+	rm -rf build *.so *.c *.pyc geodetic.py algebra.py

sw/lib/python/pprz_math/__init__.py

@@ -0,0 +1 @@
+__all__ = ["geodetic", "algebra"]

sw/lib/python/pprz_math/algebra.i

@@ -0,0 +1,10 @@
+/* File : algebra.i */
+%module algebra
+%feature("autodoc", "3");
+%include "typemaps.i"
+%include pprz_algebra_int.i
+%include pprz_algebra_float.i
+%include pprz_algebra_double.i
+%{
+#define SWIG_FILE_WITH_INIT
+%}

sw/lib/python/pprz_math/geodetic.i

@@ -1,5 +1,5 @@
-/* File : pprz_geodetic.i */
-%module pprz_geodetic
+/* File : geodetic.i */
+%module geodetic
 %feature("autodoc", "3");
 %include "typemaps.i"
 %include pprz_geodetic_int.i

sw/lib/python/pprz_math/pprz_algebra_double.i

@@ -0,0 +1,7 @@
+/* File : pprz_algebra_double.i */
+%module algebra_double
+%{
+#include "math/pprz_algebra_double.h"
+%}
+
+%include "math/pprz_algebra_double.h"

sw/lib/python/pprz_math/pprz_algebra_float.i

@@ -0,0 +1,7 @@
+/* File : pprz_algebra_float.i */
+%module algebra_float
+%{
+#include "math/pprz_algebra_float.h"
+%}
+
+%include "math/pprz_algebra_float.h"

sw/lib/python/pprz_math/pprz_algebra_int.i

@@ -0,0 +1,8 @@
+/* File : pprz_algebra_int.i */
+%module algebra_int
+%include "stdint.i"
+%{
+#include "math/pprz_algebra_int.h"
+%}
+
+%include "math/pprz_algebra_int.h"

sw/lib/python/pprz_math/setup.py

@@ -0,0 +1,40 @@
+#!/usr/bin/env python
+
+"""
+setup.py file for pprz math wrappers
+"""
+
+from distutils.core import setup, Extension
+
+from os import path, getenv
+
+# if PAPARAZZI_SRC not set, then assume the tree containing this
+# file is a reasonable substitute
+pprz_src = getenv("PAPARAZZI_SRC", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
+pprz_airborne = path.join(pprz_src, "sw/airborne")
+
+common_inc_dirs = [path.join(pprz_src, "sw/include"), pprz_airborne]
+
+geodetic_module = Extension('_geodetic',
+                            sources=['geodetic_wrap.c',
+                                     path.join(pprz_airborne, 'math/pprz_geodetic_int.c'),
+                                     path.join(pprz_airborne, 'math/pprz_geodetic_double.c'),
+                                     path.join(pprz_airborne, 'math/pprz_geodetic_float.c')
+                                 ],
+                            include_dirs=common_inc_dirs)
+algebra_module = Extension('_algebra',
+                           sources=['algebra_wrap.c',
+                                    path.join(pprz_airborne, 'math/pprz_algebra_int.c'),
+                                    path.join(pprz_airborne, 'math/pprz_algebra_double.c'),
+                                    path.join(pprz_airborne, 'math/pprz_algebra_float.c'),
+                                    path.join(pprz_airborne, 'math/pprz_trig_int.c'),
+                                ],
+                           include_dirs=common_inc_dirs)
+
+setup(name='geodetic',
+      version='0.1',
+      author="Felix Ruess",
+      description="""Pprz math wrappers""",
+      ext_modules=[geodetic_module, algebra_module],
+      py_modules=["geodetic", "algebra"],
+      )