[Citadel] [TPE] Add GetContactsFromLastStepFeature

[iche033]

depends on pull request #59 and pull request #60

Add TPE implementation of GetContactsFromLastStepFeature. It returns contact points generated by the CollisionDetector introduced in pull request #60

Since contacts are associated with collisions in ign-physics but TPE checks contacts on the model level, a workaround is implemented to return the first collision in the canonical link of the model.

The test added caught a bug in EntityManagementFeatures in which incorrect entity names were returned so I had to remove the static variables.

[codecov]

Codecov Report

Merging #61 into ign-physics2 will increase coverage by 0.35%.
The diff coverage is 94.96%.

@@               Coverage Diff                @@
##           ign-physics2      #61      +/-   ##
================================================
+ Coverage         82.10%   82.45%   +0.35%     
================================================
  Files               106      106              
  Lines              3559     3585      +26     
================================================
+ Hits               2922     2956      +34     
+ Misses              637      629       -8     

Impacted Files	Coverage Δ
tpe/lib/src/Entity.hh	0.00% <ø> (ø)
tpe/lib/src/Shape.hh	100.00% <ø> (ø)
tpe/lib/src/World.hh	100.00% <ø> (ø)
tpe/plugin/src/EntityManagementFeatures.cc	81.32% <50.00%> (+3.09%)	⬆️
tpe/lib/src/Collision.cc	76.31% <75.00%> (ø)
tpe/plugin/src/SimulationFeatures.cc	70.00% <88.88%> (+30.86%)	⬆️
tpe/lib/src/Entity.cc	82.97% <91.66%> (-0.36%)	⬇️
tpe/lib/src/CollisionDetector.cc	100.00% <100.00%> (ø)
tpe/lib/src/CollisionDetector.hh	100.00% <100.00%> (ø)
tpe/lib/src/Utils.cc	100.00% <100.00%> (ø)
... and 10 more

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[claireyywang]

when I tested it locally, I got the following error:

~/citadel_ws $ ign gazebo -v 2 shapes.sdf --physics-engine ignition-physics-tpe-plugin
[Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf2v95WorldE], which doesn't have `operator<<`. Component will not be serialized.
[Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf2v95ModelE], which doesn't have `operator<<`. Component will not be serialized.
ign gazebo server: symbol lookup error: /home/claire/citadel_ws/install/lib/libignition-physics2-tpelib.so.2: undefined symbol: _ZN8ignition7physics6tpelib17CollisionDetector15CheckCollisionsERKSt3mapImSt10shared_ptrINS1_6EntityEESt4lessImESaISt4pairIKmS6_EEEb

[iche033]

I just rebuilt ign-physics and ign-gazebo in two colcon worksapces and I can't reproduce the unresolved symbol error. I do see the component warning msgs.

Could you try clean the build dir and rebuild to see if the problem still occurs?

[claireyywang]

I just rebuilt ign-physics and ign-gazebo in two colcon worksapces and I can't reproduce the unresolved symbol error. I do see the component warning msgs.

Could you try clean the build dir and rebuild to see if the problem still occurs?

I did a clean build and the error went away. Thanks for double checking!

[claireyywang]

LGTM!