ign -> gz Migrate Ignition Headers : gz-physics

CMakeLists.txt

@@ -13,7 +13,10 @@ find_package(ignition-cmake2 2.14.0 REQUIRED)
 #============================================================================
 # Configure the project
 #============================================================================
-ign_configure_project(VERSION_SUFFIX)
+ign_configure_project(
+  REPLACE_IGNITION_INCLUDE_PATH gz/physics
+  VERSION_SUFFIX
+)
 
 #============================================================================
 # Set project-specific options

dartsim/include/CMakeLists.txt

@@ -0,0 +1,2 @@
+add_subdirectory(gz)
+install(DIRECTORY ignition DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL})

dartsim/include/gz/physics/dartsim/World.hh

@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) 2018 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef GZ_PHYSICS_DARTSIM_WORLD_HH_
+#define GZ_PHYSICS_DARTSIM_WORLD_HH_
+
+#include <dart/simulation/World.hpp>
+
+#include <gz/physics/FeatureList.hh>
+
+namespace ignition {
+namespace physics {
+namespace dartsim {
+
+/////////////////////////////////////////////////
+class RetrieveWorld : public virtual Feature
+{
+  public: template <typename PolicyT, typename FeaturesT>
+  class World : public virtual Feature::World<PolicyT, FeaturesT>
+  {
+    /// \brief Get the underlying dartsim world for this World object.
+    public: dart::simulation::WorldPtr GetDartsimWorld();
+  };
+
+  public: template <typename PolicyT>
+  class Implementation : public virtual Feature::Implementation<PolicyT>
+  {
+    public: virtual dart::simulation::WorldPtr GetDartsimWorld(
+        const Identity &_worldID) = 0;
+  };
+};
+
+/////////////////////////////////////////////////
+//! [feature template]
+template <typename PolicyT, typename FeaturesT>
+dart::simulation::WorldPtr RetrieveWorld::World<PolicyT, FeaturesT>
+::GetDartsimWorld()
+{
+  return this->template Interface<RetrieveWorld>()
+      ->GetDartsimWorld(this->identity);
+}
+//! [feature template]
+
+}
+}
+}
+
+#endif

dartsim/include/ignition/physics/dartsim-plugin/Export.hh

@@ -0,0 +1,19 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include <gz/physics/dartsim-plugin/Export.hh>
+#include <ignition/physics/config.hh>

dartsim/include/ignition/physics/dartsim/World.hh

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2018 Open Source Robotics Foundation
+ * Copyright (C) 2022 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -13,50 +13,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *
-*/
+ */
 
-#ifndef IGNITION_PHYSICS_DARTSIM_WORLD_HH_
-#define IGNITION_PHYSICS_DARTSIM_WORLD_HH_
-
-#include <dart/simulation/World.hpp>
-
-#include <ignition/physics/FeatureList.hh>
-
-namespace ignition {
-namespace physics {
-namespace dartsim {
-
-/////////////////////////////////////////////////
-class RetrieveWorld : public virtual Feature
-{
-  public: template <typename PolicyT, typename FeaturesT>
-  class World : public virtual Feature::World<PolicyT, FeaturesT>
-  {
-    /// \brief Get the underlying dartsim world for this World object.
-    public: dart::simulation::WorldPtr GetDartsimWorld();
-  };
-
-  public: template <typename PolicyT>
-  class Implementation : public virtual Feature::Implementation<PolicyT>
-  {
-    public: virtual dart::simulation::WorldPtr GetDartsimWorld(
-        const Identity &_worldID) = 0;
-  };
-};
-
-/////////////////////////////////////////////////
-//! [feature template]
-template <typename PolicyT, typename FeaturesT>
-dart::simulation::WorldPtr RetrieveWorld::World<PolicyT, FeaturesT>
-::GetDartsimWorld()
-{
-  return this->template Interface<RetrieveWorld>()
-      ->GetDartsimWorld(this->identity);
-}
-//! [feature template]
-
-}
-}
-}
-
-#endif
+#include <gz/physics/dartsim/World.hh>
+#include <ignition/physics/config.hh>

dartsim/src/Base.hh

@@ -15,8 +15,8 @@
  *
 */
 
-#ifndef IGNITION_PHYSICS_DARTSIM_BASE_HH_
-#define IGNITION_PHYSICS_DARTSIM_BASE_HH_
+#ifndef GZ_PHYSICS_DARTSIM_BASE_HH_
+#define GZ_PHYSICS_DARTSIM_BASE_HH_
 
 #include <dart/dynamics/BodyNode.hpp>
 #include <dart/dynamics/SimpleFrame.hpp>
@@ -30,8 +30,8 @@
 #include <utility>
 #include <vector>
 
-#include <ignition/common/Console.hh>
-#include <ignition/physics/Implements.hh>
+#include <gz/common/Console.hh>
+#include <gz/physics/Implements.hh>
 
 namespace ignition {
 namespace physics {

dartsim/src/Base_TEST.cc

@@ -17,14 +17,14 @@
 
 #include <gtest/gtest.h>
 
-#include <ignition/physics/Implements.hh>
-
-#include <ignition/physics/sdf/ConstructCollision.hh>
-#include <ignition/physics/sdf/ConstructJoint.hh>
-#include <ignition/physics/sdf/ConstructLink.hh>
-#include <ignition/physics/sdf/ConstructModel.hh>
-#include <ignition/physics/sdf/ConstructVisual.hh>
-#include <ignition/physics/sdf/ConstructWorld.hh>
+#include <gz/physics/Implements.hh>
+
+#include <gz/physics/sdf/ConstructCollision.hh>
+#include <gz/physics/sdf/ConstructJoint.hh>
+#include <gz/physics/sdf/ConstructLink.hh>
+#include <gz/physics/sdf/ConstructModel.hh>
+#include <gz/physics/sdf/ConstructVisual.hh>
+#include <gz/physics/sdf/ConstructWorld.hh>
 
 #include "dart/dynamics/BoxShape.hpp"
 #include "dart/dynamics/FreeJoint.hpp"

dartsim/src/Collisions_TEST.cc

@@ -19,59 +19,61 @@
 
 #include <test/PhysicsPluginsList.hh>
 
-#include <ignition/physics/FindFeatures.hh>
-#include <ignition/physics/RequestEngine.hh>
-#include <ignition/plugin/Loader.hh>
+#include <gz/physics/FindFeatures.hh>
+#include <gz/physics/RequestEngine.hh>
+#include <gz/plugin/Loader.hh>
 
 // Features
-#include <ignition/physics/ConstructEmpty.hh>
-#include <ignition/physics/ForwardStep.hh>
-#include <ignition/physics/FrameSemantics.hh>
-#include <ignition/physics/FreeJoint.hh>
-#include <ignition/physics/GetEntities.hh>
-#include <ignition/physics/mesh/MeshShape.hh>
-#include <ignition/physics/PlaneShape.hh>
-#include <ignition/physics/FixedJoint.hh>
-
-#include <ignition/common/MeshManager.hh>
-
-using TestFeatureList = ignition::physics::FeatureList<
-  ignition::physics::LinkFrameSemantics,
-  ignition::physics::ForwardStep,
-  ignition::physics::GetEntities,
-  ignition::physics::ConstructEmptyWorldFeature,
-  ignition::physics::ConstructEmptyModelFeature,
-  ignition::physics::ConstructEmptyLinkFeature,
-  ignition::physics::mesh::AttachMeshShapeFeature,
-  ignition::physics::AttachPlaneShapeFeature,
-  ignition::physics::SetFreeJointRelativeTransformFeature,
-  ignition::physics::AttachFixedJointFeature
+#include <gz/physics/ConstructEmpty.hh>
+#include <gz/physics/ForwardStep.hh>
+#include <gz/physics/FrameSemantics.hh>
+#include <gz/physics/FreeJoint.hh>
+#include <gz/physics/GetEntities.hh>
+#include <gz/physics/mesh/MeshShape.hh>
+#include <gz/physics/PlaneShape.hh>
+#include <gz/physics/FixedJoint.hh>
+
+#include <gz/common/MeshManager.hh>
+
+using namespace ignition;
+
+using TestFeatureList = physics::FeatureList<
+  physics::LinkFrameSemantics,
+  physics::ForwardStep,
+  physics::GetEntities,
+  physics::ConstructEmptyWorldFeature,
+  physics::ConstructEmptyModelFeature,
+  physics::ConstructEmptyLinkFeature,
+  physics::mesh::AttachMeshShapeFeature,
+  physics::AttachPlaneShapeFeature,
+  physics::SetFreeJointRelativeTransformFeature,
+  physics::AttachFixedJointFeature
 >;
 
-using TestWorldPtr = ignition::physics::World3dPtr<TestFeatureList>;
-using TestEnginePtr = ignition::physics::Engine3dPtr<TestFeatureList>;
+using TestWorldPtr = physics::World3dPtr<TestFeatureList>;
+using TestEnginePtr = physics::Engine3dPtr<TestFeatureList>;
 
 using WorldConstructor = std::function<TestWorldPtr(const TestEnginePtr&)>;
 
 std::unordered_set<TestWorldPtr> LoadWorlds(
     const std::string &_library,
     const WorldConstructor &_constructor)
 {
-  ignition::plugin::Loader loader;
+  plugin::Loader loader;
   loader.LoadLib(_library);
 
   const std::set<std::string> pluginNames =
-      ignition::physics::FindFeatures3d<TestFeatureList>::From(loader);
+      physics::FindFeatures3d<TestFeatureList>::From(loader);
 
   std::unordered_set<TestWorldPtr> worlds;
   for (const std::string &name : pluginNames)
   {
-    ignition::plugin::PluginPtr plugin = loader.Instantiate(name);
+    plugin::PluginPtr plugin = loader.Instantiate(name);
 
     std::cout << " -- Plugin name: " << name << std::endl;
 
     auto engine =
-        ignition::physics::RequestEngine3d<TestFeatureList>::From(plugin);
+        physics::RequestEngine3d<TestFeatureList>::From(plugin);
     EXPECT_NE(nullptr, engine);
 
     worlds.insert(_constructor(engine));
@@ -86,11 +88,11 @@ class Collisions_TEST
 {};
 
 INSTANTIATE_TEST_CASE_P(PhysicsPlugins, Collisions_TEST,
-    ::testing::ValuesIn(ignition::physics::test::g_PhysicsPluginLibraries),); // NOLINT
+    ::testing::ValuesIn(physics::test::g_PhysicsPluginLibraries),); // NOLINT
 
 TestWorldPtr ConstructMeshPlaneWorld(
-    const ignition::physics::Engine3dPtr<TestFeatureList> &_engine,
-    const ignition::common::Mesh &_mesh)
+    const physics::Engine3dPtr<TestFeatureList> &_engine,
+    const common::Mesh &_mesh)
 {
   auto world = _engine->ConstructEmptyWorld("world");
 
@@ -109,7 +111,7 @@ TestWorldPtr ConstructMeshPlaneWorld(
   model = world->ConstructEmptyModel("plane");
   link = model->ConstructEmptyLink("link");
 
-  link->AttachPlaneShape("plane", ignition::physics::LinearVector3d::UnitZ());
+  link->AttachPlaneShape("plane", physics::LinearVector3d::UnitZ());
   link->AttachFixedJoint(nullptr);
 
   return world;
@@ -122,7 +124,7 @@ TEST_P(Collisions_TEST, MeshAndPlane)
     return;
 
   const std::string meshFilename = IGNITION_PHYSICS_RESOURCE_DIR "/chassis.dae";
-  auto &meshManager = *ignition::common::MeshManager::Instance();
+  auto &meshManager = *common::MeshManager::Instance();
   auto *mesh = meshManager.Load(meshFilename);
 
   std::cout << "Testing library " << library << std::endl;
@@ -138,9 +140,9 @@ TEST_P(Collisions_TEST, MeshAndPlane)
     EXPECT_NEAR(
           0.0, link->FrameDataRelativeToWorld().pose.translation()[2], 1e-6);
 
-    ignition::physics::ForwardStep::Output output;
-    ignition::physics::ForwardStep::State state;
-    ignition::physics::ForwardStep::Input input;
+    physics::ForwardStep::Output output;
+    physics::ForwardStep::State state;
+    physics::ForwardStep::Input input;
     for (std::size_t i = 0; i < 1000; ++i)
     {
       world->Step(output, state, input);

dartsim/src/CustomFeatures.hh

@@ -18,9 +18,9 @@
 #ifndef IGNITION_PHYSICS_SRC_CUSTOMFEATURES_HH
 #define IGNITION_PHYSICS_SRC_CUSTOMFEATURES_HH
 
-#include <ignition/physics/Implements.hh>
+#include <gz/physics/Implements.hh>
 
-#include <ignition/physics/dartsim/World.hh>
+#include <gz/physics/dartsim/World.hh>
 
 #include "Base.hh"