Cherry-pick nested model support to sdf10 #338
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Nested model elements (`//model/model`) are currently supported in the SDFormat 1.7 spec, but are not supported by the DOM API or frame semantics operations in libsdformat 9.2. Per Amendment 1 of the SDFormat 1.7 proposal (sdformat.org/tutorials?tut=pose_frame_semantics_proposal#amendment-1-directly-nested-models), this PR adds support for nested models in the DOM API and frame semantics (fixing gazebosim#283) through three steps: * adding `Model::Model*` methods for accessing nested models via the DOM API (047ec96) * loading nested models in `Model::Load` (b57fea2, step 3 of model parsing stages (sdformat.org/tutorials?tut=pose_frame_semantics_proposal#1-model)) * supporting nested models (`//model/model`) in frame semantics as opaque frames to match how models in the world scope (`//world/model`) are treated (85e0b4f, steps 6-9 of model parsing stages (sdformat.org/tutorials?tut=pose_frame_semantics_proposal#1-model)) The first two steps are straightforward, while the 3rd step adds new behavior. This behavior is added to `libsdformat9` because it is compatible with the SDFormat 1.7 spec (which supports nested models) and makes the treatment of models more consistent with regard to frame semantics. In libsdformat 9.2.0, a `//world/model` supports frame semantics: they have frames that can be referenced by name with `//pose/@relative_to` and `//world/frame/@attached_to` values can resolve to a `//world/model`. This extends that same behavior to nested `//model/model` elements; they now have their own frames in the frame and pose graphs, and a `//model/frame` is permitted to attach to a model. This does not add support for referencing elements within a model via the `::` syntax in the frame semantics or DOM APIs. That will be added in SDFormat 1.8 (see gazebosim#293). Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Codecov Report
@@ Coverage Diff @@
## sdf10 #338 +/- ##
==========================================
- Coverage 87.51% 87.28% -0.23%
==========================================
Files 60 60
Lines 9090 9189 +99
==========================================
+ Hits 7955 8021 +66
- Misses 1135 1168 +33
Continue to review full report at Codecov.
|
|
CI looks happy; I'm going to rebase and merge |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This is a cherry-pick of #316 to
sdf10. Use rebase and merge.