9 ➡️ 10 #458
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9 ➡️ 10 #458
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… level (#251) SDFormat 9 requires the use of C++17 in its public headers, however it does not correctly expose this requirement in its installed imported targets. In particular, at the moment the requirement of C++17 is only documented via adding the -std=c++17 flag in the `SDFormat_CXX_FLAGS` variable, but this strategy has two problems: * It does not work unless a user explicitly pass this flags to its compilation targets, and this is definitely not obvious if it is not using directly SDFormat, but he is linking sdformat transitively through Gazebo 11. * If a different C++ version is set at the CMake level, it is possible that the `-std=c++17` flag is ignored (it depends what is the order with which the flags are passed to the compiler). For CMake consumers, a better strategy is to use the target_compile_features and explicitly mark that that this library requires the `cxx_std_17` feature, as `PUBLIC` because it also required in the public headers. As the minimum required version of CMake is 3.10, we can use cxx_std_17 as it is available in CMake 3.10, see https://cmake.org/cmake/help/v3.10/prop_gbl/CMAKE_CXX_KNOWN_FEATURES.html#prop_gbl:CMAKE_CXX_KNOWN_FEATURES . Signed-off-by: Silvio Traversaro <silvio.traversaro@iit.it>
Signed-off-by: Steven Peters <scpeters@openrobotics.org>
* [sdf8] Changelog links to BitBucket backup Signed-off-by: Louise Poubel <louise@openrobotics.org> * more fixes, new version of script Signed-off-by: Louise Poubel <louise@openrobotics.org> * [sdf7] Changelog links to BitBucket backup (#238) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Update some more bitbucket issue references Signed-off-by: Steven Peters <scpeters@openrobotics.org> Co-authored-by: Steven Peters <scpeters@openrobotics.org>
* [sdf9] Changelog links to BitBucket backup Signed-off-by: Louise Poubel <louise@openrobotics.org> * [sdf8] Changelog links to BitBucket backup Signed-off-by: Louise Poubel <louise@openrobotics.org> * [sdf7] Changelog links to BitBucket backup (#238) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Convert bitbucket links for sdf9 Signed-off-by: Steven Peters <scpeters@openrobotics.org> * Fix link in API documentation Signed-off-by: Steven Peters <scpeters@openrobotics.org> Co-authored-by: Steven Peters <scpeters@openrobotics.org>
For backward compatibility if it is not defined compile the tests Signed-off-by: Silvio <silvio.traversaro@iit.it>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
* Simplify and fix copy constructors, restructure tests and increase coverage * Add joint and link tests * Add changelog Signed-off-by: Luca Della Vedova <luca@openrobotics.org> Co-authored-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
* Also use python3 in test Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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 #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 #293). Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
* Simplify and fix copy constructors, restructure tests and increase coverage * Add joint and link tests * Add changelog Signed-off-by: Luca Della Vedova <luca@openrobotics.org> Co-authored-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
Allow models without links if they have nested models instead. When building FrameAttachedToGraph, if model has no links choose the first link of the first nested model as canonical link instead. A new private function `Model::CanonicalLinkAndRelativeName` is added that provides a `Link*` pointer to the canonical link and its nested name relative to the current model, which is needed in the FrameAttachedToGraph. This private prevents duplicate code in `FrameSemantics.cc` and `Model::CanonicalLink`. The method is private to hide :: syntax from libsdformat9, at least until there is a compelling reason to make the API public. A helper function is added to FrameSemantics.cc as a friend of Model so that buildFrameAttachedToGraph can call the private API. That function can't be added directly as a friend since it uses a `FrameAttachedToGraph&` as an argument, which isn't defined in Model.hh. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org>
Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org>
* Also use python3 in test Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Silvio Traversaro <silvio.traversaro@iit.it>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org> Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org>
…414) Signed-off-by: Steve Peters <scpeters@openrobotics.org>
…414) Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Currently there is a confusing error message if a file is loaded that finds a folder matching the name of a model to be included but the folder does not have a model.config file. This improves the first error message and stops further loading to prevent additional confusing messages. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Currently the addNestedModel function in parser.cc prefixes link, joint, and frame names with the flattened model name delimited by "::". This applies the same prefix to the names of nested models within the flattened model as well. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org>
This reverts part of commit 0e77816. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
* add double sided materail param Signed-off-by: Ian Chen <ichen@osrfoundation.org> * fix loading param Signed-off-by: Ian Chen <ichen@osrfoundation.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Merge forward sdf8 -> sdf9
Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
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scpeters
approved these changes
Jan 12, 2021
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Merge-forward
sdf9tosdf10, similar to #445.It looks like there are lots of commits, but that's just because this is the first forward merge PR. Subsequent ones should only have the ported PRs and the merge commit.
This is essentially just porting the heightmap from #388.