Merge branch 'sdf13' into python_module_version

Author: azeey

include/sdf/Collision.hh

@@ -34,6 +34,7 @@ namespace sdf
   //
   // Forward declaration.
   class Geometry;
+  class ParserConfig;
   class Surface;
   struct PoseRelativeToGraph;
   template <typename T> class ScopedGraph;
@@ -55,6 +56,15 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(ElementPtr _sdf);
 
+    /// \brief Load the collision based on a element pointer. This is *not* the
+    /// usual entry point. Typical usage of the SDF DOM is through the Root
+    /// object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \param[in] _config Parser configuration
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
+
     /// \brief Get the name of the collision.
     /// The name of the collision must be unique within the scope of a Link.
     /// \return Name of the collision.

include/sdf/Geometry.hh

@@ -37,6 +37,7 @@ namespace sdf
   class Ellipsoid;
   class Heightmap;
   class Mesh;
+  class ParserConfig;
   class Plane;
   class Polyline;
   class Sphere;
@@ -93,6 +94,15 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(ElementPtr _sdf);
 
+    /// \brief Load the geometry based on a element pointer. This is *not* the
+    /// usual entry point. Typical usage of the SDF DOM is through the Root
+    /// object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \param[in] _config Parser configuration
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
+
     /// \brief Get the type of geometry.
     /// \return The geometry type.
     public: GeometryType Type() const;

include/sdf/Heightmap.hh

@@ -28,6 +28,11 @@ namespace sdf
 {
   // Inline bracket to help doxygen filtering.
   inline namespace SDF_VERSION_NAMESPACE {
+  //
+
+  // Forward declarations.
+  class ParserConfig;
+
   /// \brief Texture to be used on heightmaps.
   class SDFORMAT_VISIBLE HeightmapTexture
   {
@@ -42,6 +47,15 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(ElementPtr _sdf);
 
+    /// \brief Load the heightmap texture geometry based on a element pointer.
+    /// This is *not* the usual entry point. Typical usage of the SDF DOM is
+    /// through the Root object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \param[in] _config Parser configuration
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
+
     /// \brief Get the heightmap texture's size.
     /// \return The size of the heightmap texture in meters.
     public: double Size() const;
@@ -129,6 +143,15 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(ElementPtr _sdf);
 
+    /// \brief Load the heightmap geometry based on a element pointer.
+    /// This is *not* the usual entry point. Typical usage of the SDF DOM is
+    /// through the Root object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \param[in] _config Parser configuration
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(ElementPtr _sdf, const ParserConfig &_config);
+
     /// \brief Get the heightmap's URI.
     /// \return The URI of the heightmap data.
     public: std::string Uri() const;

include/sdf/Link.hh

@@ -37,6 +37,7 @@ namespace sdf
   // Forward declarations.
   class Collision;
   class Light;
+  class ParserConfig;
   class ParticleEmitter;
   class Sensor;
   class Visual;
@@ -56,6 +57,15 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(ElementPtr _sdf);
 
+    /// \brief Load the link based on a element pointer. This is *not* the
+    /// usual entry point. Typical usage of the SDF DOM is through the Root
+    /// object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \param[in] _config Parser configuration
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(ElementPtr _sdf, const ParserConfig &_config);
+
     /// \brief Get the name of the link.
     /// The name of a link must be unique within the scope of a Model.
     /// \return Name of the link.

include/sdf/Material.hh

@@ -31,6 +31,7 @@ namespace sdf
   //
 
   // Forward declarations.
+  class ParserConfig;
   class Pbr;
 
   enum class ShaderType : int
@@ -55,6 +56,15 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(ElementPtr _sdf);
 
+    /// \brief Load the material based on a element pointer. This is *not* the
+    /// usual entry point. Typical usage of the SDF DOM is through the Root
+    /// object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \param[in] _config Parser configuration
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
+
     /// \brief Get the ambient color. The ambient color is
     /// specified by a set of three numbers representing red/green/blue,
     /// each in the range of [0,1].

include/sdf/Mesh.hh

@@ -30,6 +30,9 @@ namespace sdf
   inline namespace SDF_VERSION_NAMESPACE {
   //
 
+  // Forward declarations.
+  class ParserConfig;
+
   /// \brief Mesh represents a mesh shape, and is usually accessed through a
   /// Geometry.
   class SDFORMAT_VISIBLE Mesh
@@ -45,6 +48,15 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(ElementPtr _sdf);
 
+    /// \brief Load the mesh geometry based on a element pointer.
+    /// This is *not* the usual entry point. Typical usage of the SDF DOM is
+    /// through the Root object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \param[in] _config Parser configuration
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
+
     /// \brief Get the mesh's URI.
     /// \return The URI of the mesh data.
     public: std::string Uri() const;

include/sdf/ParserConfig.hh

@@ -169,11 +169,29 @@ class SDFORMAT_VISIBLE ParserConfig
   public: const std::vector<CustomModelParser> &CustomModelParsers() const;
 
   /// \brief Set the preserveFixedJoint flag.
+  /// \param[in] _preserveFixedJoint flag value to set
   public: void URDFSetPreserveFixedJoint(bool _preserveFixedJoint);
 
   /// \brief Get the preserveFixedJoint flag value.
+  /// \return Current flag value
   public: bool URDFPreserveFixedJoint() const;
 
+  /// \brief Set the storeResolvedURIs flag value.
+  /// \param[in] _resolveURI True to make the parser attempt to resolve any
+  /// URIs found and store them.  False to preserve original URIs
+  ///
+  /// The Parser will use the FindFileCallback provided to attempt to resolve
+  /// URIs in the Mesh, Material, Heightmap, and Skybox DOM objects
+  /// If the FindFileCallback provides a non-empty string, the URI will be
+  /// stored in the DOM object, and the original (unresolved) URI will be
+  /// stored in the underlying Element.
+  public: void SetStoreResovledURIs(bool _resolveURI);
+
+  /// \brief Get the storeResolvedURIs flag value.
+  /// \return True if the parser will attempt to resolve any URIs found and
+  /// store them.  False to preserve original URIs
+  public: bool StoreResolvedURIs() const;
+
   /// \brief Private data pointer.
   GZ_UTILS_IMPL_PTR(dataPtr)
 };

include/sdf/Scene.hh

@@ -43,6 +43,15 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(ElementPtr _sdf);
 
+    /// \brief Load the scene based on a element pointer. This is *not* the
+    /// usual entry point. Typical usage of the SDF DOM is through the Root
+    /// object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \param[in] _config Parser configuration
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
+
     /// \brief Get the ambient color of the scene
     /// \return Scene ambient color
     public: gz::math::Color Ambient() const;

include/sdf/Sky.hh

@@ -32,6 +32,11 @@ namespace sdf
 {
   // Inline bracket to help doxygen filtering.
   inline namespace SDF_VERSION_NAMESPACE {
+  //
+
+  // Forward declarations.
+  class ParserConfig;
+
   class SDFORMAT_VISIBLE Sky
   {
     /// \brief Default constructor
@@ -117,6 +122,14 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(ElementPtr _sdf);
 
+    /// \brief Load the sky based on a element pointer. This is *not* the
+    /// usual entry point. Typical usage of the SDF DOM is through the Root
+    /// object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(ElementPtr _sdf, const ParserConfig &_config);
+
     /// \brief Get a pointer to the SDF element that was used during
     /// load.
     /// \return SDF element pointer. The value will be nullptr if Load has

include/sdf/Visual.hh

@@ -41,6 +41,7 @@ namespace sdf
 
   // Forward declarations.
   class Geometry;
+  class ParserConfig;
   struct PoseRelativeToGraph;
   template <typename T> class ScopedGraph;
 
@@ -57,6 +58,15 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(ElementPtr _sdf);
 
+    /// \brief Load the visual based on a element pointer. This is *not* the
+    /// usual entry point. Typical usage of the SDF DOM is through the Root
+    /// object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \param[in] _config Parser configuration
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(ElementPtr _sdf, const ParserConfig &_config);
+
     /// \brief Get the name of the visual.
     /// The name of the visual must be unique within the scope of a Link.
     /// \return Name of the visual.

src/Collision.cc

@@ -64,6 +64,12 @@ Collision::Collision()
 
 /////////////////////////////////////////////////
 Errors Collision::Load(ElementPtr _sdf)
+{
+  return this->Load(_sdf, ParserConfig::GlobalConfig());
+}
+
+/////////////////////////////////////////////////
+Errors Collision::Load(ElementPtr _sdf, const ParserConfig &_config)
 {
   Errors errors;
 
@@ -98,7 +104,8 @@ Errors Collision::Load(ElementPtr _sdf)
   loadPose(_sdf, this->dataPtr->pose, this->dataPtr->poseRelativeTo);
 
   // Load the geometry
-  Errors geomErr = this->dataPtr->geom.Load(_sdf->GetElement("geometry"));
+  Errors geomErr = this->dataPtr->geom.Load(
+      _sdf->GetElement("geometry"), _config);
   errors.insert(errors.end(), geomErr.begin(), geomErr.end());
 
   // Load the surface parameters if they are given

src/Geometry.cc

@@ -78,6 +78,12 @@ Geometry::Geometry()
 
 /////////////////////////////////////////////////
 Errors Geometry::Load(ElementPtr _sdf)
+{
+  return this->Load(_sdf, ParserConfig::GlobalConfig());
+}
+
+/////////////////////////////////////////////////
+Errors Geometry::Load(ElementPtr _sdf, const ParserConfig &_config)
 {
   Errors errors;
 
@@ -148,14 +154,15 @@ Errors Geometry::Load(ElementPtr _sdf)
   {
     this->dataPtr->type = GeometryType::MESH;
     this->dataPtr->mesh.emplace();
-    Errors err = this->dataPtr->mesh->Load(_sdf->GetElement("mesh"));
+    Errors err = this->dataPtr->mesh->Load(_sdf->GetElement("mesh"), _config);
     errors.insert(errors.end(), err.begin(), err.end());
   }
   else if (_sdf->HasElement("heightmap"))
   {
     this->dataPtr->type = GeometryType::HEIGHTMAP;
     this->dataPtr->heightmap.emplace();
-    Errors err = this->dataPtr->heightmap->Load(_sdf->GetElement("heightmap"));
+    Errors err = this->dataPtr->heightmap->Load(
+        _sdf->GetElement("heightmap"), _config);
     errors.insert(errors.end(), err.begin(), err.end());
   }
   else if (_sdf->HasElement("polyline"))

src/Heightmap.cc

@@ -91,6 +91,12 @@ HeightmapTexture::HeightmapTexture()
 
 /////////////////////////////////////////////////
 Errors HeightmapTexture::Load(ElementPtr _sdf)
+{
+  return this->Load(_sdf, ParserConfig::GlobalConfig());
+}
+
+/////////////////////////////////////////////////
+Errors HeightmapTexture::Load(ElementPtr _sdf, const ParserConfig &_config)
 {
   Errors errors;
 
@@ -126,8 +132,9 @@ Errors HeightmapTexture::Load(ElementPtr _sdf)
 
   if (_sdf->HasElement("diffuse"))
   {
-    this->dataPtr->diffuse = _sdf->Get<std::string>("diffuse",
-        this->dataPtr->diffuse).first;
+    this->dataPtr->diffuse = resolveURI(
+        _sdf->Get<std::string>("diffuse", this->dataPtr->diffuse).first,
+        _config, errors);
   }
   else
   {
@@ -137,8 +144,9 @@ Errors HeightmapTexture::Load(ElementPtr _sdf)
 
   if (_sdf->HasElement("normal"))
   {
-    this->dataPtr->normal = _sdf->Get<std::string>("normal",
-        this->dataPtr->normal).first;
+    this->dataPtr->normal = resolveURI(
+        _sdf->Get<std::string>("normal", this->dataPtr->normal).first,
+        _config, errors);
   }
   else
   {
@@ -285,6 +293,12 @@ Heightmap::Heightmap()
 
 /////////////////////////////////////////////////
 Errors Heightmap::Load(ElementPtr _sdf)
+{
+  return this->Load(_sdf, ParserConfig::GlobalConfig());
+}
+
+/////////////////////////////////////////////////
+Errors Heightmap::Load(ElementPtr _sdf, const ParserConfig &_config)
 {
   Errors errors;
 
@@ -311,7 +325,9 @@ Errors Heightmap::Load(ElementPtr _sdf)
 
   if (_sdf->HasElement("uri"))
   {
-    this->dataPtr->uri = _sdf->Get<std::string>("uri", "").first;
+    this->dataPtr->uri = resolveURI(
+      _sdf->Get<std::string>("uri", "").first,
+      _config, errors);
   }
   else
   {
@@ -332,7 +348,7 @@ Errors Heightmap::Load(ElementPtr _sdf)
       this->dataPtr->sampling).first;
 
   Errors textureLoadErrors = loadRepeated<HeightmapTexture>(_sdf,
-    "texture", this->dataPtr->textures);
+    "texture", this->dataPtr->textures, _config);
   errors.insert(errors.end(), textureLoadErrors.begin(),
       textureLoadErrors.end());