Cherry-pick #312, #316 to master #339
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
…#312) * Normalize joint axis xyz vector when parsing from SDFormat Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
Codecov Report
@@ Coverage Diff @@
## master #339 +/- ##
==========================================
- Coverage 87.59% 87.38% -0.22%
==========================================
Files 60 60
Lines 9215 9319 +104
==========================================
+ Hits 8072 8143 +71
- Misses 1143 1176 +33
Continue to review full report at Codecov.
|
|
CI is happy after updating an expected console message in e2db237. I'll rebase and merge now |
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). An expected console message was updated in a test while merging forward to libsdformat11. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
e2db237 to
8cb0dd4
Compare
|
CI is happy again; I'm going to rebase and merge |
|
@scpeters This pull request seem to have introduced the following compiler warnings: https://build.osrfoundation.org/job/ignition_launch-ci-master-bionic-amd64/10/ [Discovered during osrf/buildfarmer#84] |
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 forward-port via cherry-pick of #312 and #316 from
sdf10. Use rebase and merge if CI is clean.