11 ➡️ main (#559)

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

Author: jennuine

Changelog.md

@@ -150,7 +150,17 @@
 
 ## libsdformat 10.X
 
-### libsdformat 10.X.X (202X-XX-XX)
+### libsdformat 10.4.0 (2021-04-06)
+
+1. Added particle emitter.
+    + [Pull request 528](https://github.com/osrf/sdformat/pull/528)
+
+1. Fixed application of <sensor><pose> tags in lumped linkes during URDF
+   conversion.
+    + [Pull request 525](https://github.com/osrf/sdformat/pull/525)
+
+1. Add camera type aliases to docs.
+    + [Pull request 514](https://github.com/osrf/sdformat/pull/514)
 
 ### libsdformat 10.3.0 (2021-02-18)
 

Migration.md

@@ -12,10 +12,33 @@ forward programmatically.
 This document aims to contain similar information to those files
 but with improved human-readability..
 
+## libsdformat 11.0.0 to 11.x.x
+
+### Additions
+
+1. **sdf/Console.hh** Add functions to retrieve message stream objects. These 
+   can be useful for redirecting the console output to other streams.
+    + ConsoleStream &GetMsgStream()
+    + ConsoleStream &GetLogStream()
+
+1. **sdf/ParserConfig.hh**:
+    + void SetDeprecatedElementsPolicy(EnforcementPolicy _policy)
+    + void ResetDeprecatedElementsPolicy()
+    + EnforcementPolicy DeprecatedElementsPolicy() const
+
+1. **test/test_utils.hh**:
+    + ScopeExit: A utility struct that calls a function when going out of scope.
+    + RedirectConsoleStream: A utility class used for redirecting the output of 
+      sdferr, sdfwarn, etc to a more convenient stream object like a 
+      std::stringstream for testing purposes.
+
 ## libsdformat 10.x to 11.0
 
 ### Additions
 
+1. **sdf/ParserConfig.hh** A class that contains configuration options for the 
+   libsdformat parser.
+
 1. + Depend on ignition-utils1 for the ImplPtr and UniqueImplPtr.
    + [Pull request 474](https://github.com/osrf/sdformat/pull/474)
 
@@ -69,6 +92,9 @@ but with improved human-readability..
 
 1. Fixed Atmosphere DOM class's temperature default value. Changed from -0.065 to -0.0065.
     * [Pull request 482](https://github.com/osrf/sdformat/pull/482)
+   
+1. Fixed parsing of `<sensor><pose>` tags on lumped links when converting from URDF.
+    * [Pull request 525](https://github.com/osrf/sdformat/pull/525)
 
 ## libsdformat 9.x to 10.0
 

include/sdf/CMakeLists.txt

@@ -42,6 +42,7 @@ set (headers
   Param.hh
   parser.hh
   ParserConfig.hh
+  ParticleEmitter.hh
   Pbr.hh
   Physics.hh
   Plane.hh

include/sdf/Console.hh

@@ -92,6 +92,16 @@ namespace sdf
                           const std::string &_file,
                           unsigned int _line, int _color);
 
+      /// \brief Set the stream object.
+      /// \param[in] _stream Pointer to an output stream. This can be
+      /// useful for redirecting the output, for example, to a std::stringstream
+      /// for testing.
+      public: void SetStream(std::ostream *_stream);
+
+      /// \brief Get the current stream object.
+      /// \return Pointer to current stream object.
+      public: std::ostream *GetStream();
+
       /// \brief The ostream to log to; can be NULL/nullptr.
       private: std::ostream *stream;
     };
@@ -131,6 +141,18 @@ namespace sdf
                                const std::string &file,
                                unsigned int line);
 
+    /// \brief Get the current message stream object. This can be
+    /// useful for redirecting the output, for example, to a std::stringstream
+    /// for testing.
+    /// \return Mutable reference to current message stream object.
+    public: ConsoleStream &GetMsgStream();
+
+    /// \brief Get the current log stream object. This can be
+    /// useful for redirecting the output, for example, to a std::stringstream
+    /// for testing.
+    /// \return Mutable reference to current log stream object.
+    public: ConsoleStream &GetLogStream();
+
     /// \internal
     /// \brief Pointer to private data.
     private: std::unique_ptr<ConsolePrivate> dataPtr;

include/sdf/Element.hh

@@ -101,6 +101,7 @@ namespace sdf
 
     /// \brief Set the requirement type.
     /// \param[in] _req Requirement type for this element:
+    /// -1: Deprecated.
     /// 0: Not required.
     /// 1: Exactly one element is required.
     /// +: One or more elements are required.
@@ -241,6 +242,13 @@ namespace sdf
     /// \return True if the attribute is set, false otherwise.
     public: bool GetAttributeSet(const std::string &_key) const;
 
+    /// \brief Remove an attribute.
+    /// \param[in] _key the key of the attribute.
+    public: void RemoveAttribute(const std::string &_key);
+
+    /// \brief Removes all attributes.
+    public: void RemoveAllAttributes();
+
     /// \brief Get the param of the elements value
     /// return A Param pointer to the value of this element.
     public: ParamPtr GetValue() const;

include/sdf/Link.hh

@@ -36,6 +36,7 @@ namespace sdf
   // Forward declarations.
   class Collision;
   class Light;
+  class ParticleEmitter;
   class Sensor;
   class Visual;
   struct PoseRelativeToGraph;
@@ -150,6 +151,32 @@ namespace sdf
     /// \sa bool SensorNameExists(const std::string &_name) const
     public: const Sensor *SensorByName(const std::string &_name) const;
 
+    /// \brief Get the number of particle emitters.
+    /// \return Number of particle emitters contained in this Link object.
+    public: uint64_t ParticleEmitterCount() const;
+
+    /// \brief Get a particle emitter based on an index.
+    /// \param[in] _index Index of the particle emitter.
+    /// The index should be in the range [0..ParticleEmitterCount()).
+    /// \return Pointer to the particle emitter. Nullptr if the index does
+    /// not exist.
+    /// \sa uint64_t ParticleEmitterCount() const
+    public: const ParticleEmitter *ParticleEmitterByIndex(
+                const uint64_t _index) const;
+
+    /// \brief Get whether a particle emitter name exists.
+    /// \param[in] _name Name of the particle emitter to check.
+    /// \return True if there exists a particle emitter with the given name.
+    public: bool ParticleEmitterNameExists(const std::string &_name) const;
+
+    /// \brief Get a particle emitter based on a name.
+    /// \param[in] _name Name of the particle emitter.
+    /// \return Pointer to the particle emitter. Nullptr if a particle emitter
+    /// with the given name does not exist.
+    /// \sa bool ParticleEmitterNameExists(const std::string &_name) const
+    public: const ParticleEmitter *ParticleEmitterByName(
+                const std::string &_name) const;
+
     /// \brief Get the inertial value for this link. The inertial object
     /// consists of the link's mass, a 3x3 rotational inertia matrix, and
     /// a pose for the inertial reference frame. The units for mass is

include/sdf/ParserConfig.hh

@@ -144,6 +144,22 @@ class SDFORMAT_VISIBLE ParserConfig
   /// \return The unrecognized elements policy enum value
   public: EnforcementPolicy UnrecognizedElementsPolicy() const;
 
+  /// \brief Set the policy for deprecated elements.
+  /// \param[in] _policy The deprecated elements enforcement policy
+  public: void SetDeprecatedElementsPolicy(EnforcementPolicy _policy);
+
+  /// \brief Resets the policy for deprecated elements so that it follows
+  /// WarningsPolicy.
+  public: void ResetDeprecatedElementsPolicy();
+
+  /// \brief Get the current deprecated elements policy. By default, the policy
+  /// is the same as the overall WarningsPolicy, but it can be overriden by
+  /// SetDeprecatedElementsPolicy. Once it is overriden, changing
+  /// SetWarningsPolicy will not change the value of DeprecatedElementsPolicy
+  /// unless ResetDeprecatedElementsPolicy is called.
+  /// \return The deperacted elements policy enum value
+  public: EnforcementPolicy DeprecatedElementsPolicy() const;
+
   /// \brief Registers a custom model parser.
   /// \param[in] _modelParser Callback as described in
   /// sdf/InterfaceElements.hh.