Merge pull request #874 from ignitionrobotics/merge_12_to_main

Merge sdf12 to main

.github/workflows/ci.yml

@@ -12,8 +12,6 @@ jobs:
  - name: Compile and test
  id: ci
  uses: ignition-tooling/action-ignition-ci@bionic
- with:
- codecov-enabled: true
  focal-ci:
  runs-on: ubuntu-latest
  name: Ubuntu Focal CI
@@ -28,3 +26,5 @@ jobs:
  - name: Compile and test
  id: ci
  uses: ignition-tooling/action-ignition-ci@focal
+ with:
+ codecov-enabled: true

include/sdf/Actor.hh

@@ -27,6 +27,7 @@
 #include "sdf/Types.hh"
 #include "sdf/Link.hh"
 #include "sdf/Joint.hh"
+#include "sdf/Plugin.hh"
 #include "sdf/sdf_config.h"
 #include "sdf/system_util.hh"
 
@@ -380,9 +381,28 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// actor.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated actor values.
  public: sdf::ElementPtr ToElement() const;
 
+ /// \brief Get the plugins attached to this object.
+ /// \return A vector of Plugin, which will be empty if there are no
+ /// plugins.
+ public: const sdf::Plugins &Plugins() const;
+
+ /// \brief Get a mutable vector of plugins attached to this object.
+ /// \return A vector of Plugin, which will be empty if there are no
+ /// plugins.
+ public: sdf::Plugins &Plugins();
+
+ /// \brief Remove all plugins
+ public: void ClearPlugins();
+
+ /// \brief Add a plugin to this object.
+ /// \param[in] _plugin Plugin to add.
+ public: void AddPlugin(const Plugin &_plugin);
+
  /// \brief Private data pointer.
  IGN_UTILS_IMPL_PTR(dataPtr)
  };

include/sdf/AirPressure.hh

@@ -86,6 +86,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// air pressure sensor.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated sensor values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Altimeter.hh

@@ -78,6 +78,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// altimeter sensor.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated sensor values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Atmosphere.hh

@@ -97,6 +97,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// atmosphere.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated atmosphere values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Box.hh

@@ -67,6 +67,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// box.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated box values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Camera.hh

@@ -95,6 +95,22 @@ namespace sdf
  /// \param[in] _name Name of the sensor.
  public: void SetName(const std::string &_name);
 
+ /// \brief Get whether the camera is triggered by a topic.
+ /// \return True if the camera is triggered by a topic.
+ public: bool Triggered() const;
+
+ /// \brief Set whether the camera should be triggered by a topic.
+ /// \param[in] _triggered True if the camera should be triggered by a topic.
+ public: void SetTriggered(bool _triggered);
+
+ /// \brief Get the topic that will trigger the camera.
+ /// \return Topic for the camera trigger.
+ public: std::string TriggerTopic() const;
+
+ /// \brief Set the topic that will trigger the camera.
+ /// \param[in] _triggerTopic Topic for the camera trigger.
+ public: void SetTriggerTopic(const std::string &_triggerTopic);
+
  /// \brief Get the horizontal field of view in radians.
  /// \return The horizontal field of view in radians.
  public: ignition::math::Angle HorizontalFov() const;
@@ -474,6 +490,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// camera.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated camera values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Capsule.hh

@@ -74,6 +74,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// capsule.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated capsule values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Collision.hh

@@ -117,6 +117,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// collision.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated collision values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Cylinder.hh

@@ -74,6 +74,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// cylinder.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated cylinder values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Ellipsoid.hh

@@ -66,6 +66,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// ellipsoid.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated ellipsoid values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/ForceTorque.hh

@@ -156,6 +156,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// force torque sensor.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated sensor values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Geometry.hh

@@ -191,6 +191,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// geometry.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated geometry values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Gui.hh

@@ -64,6 +64,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// gui.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated gui values.
  public: sdf::ElementPtr ToElement() const;
 
@@ -81,10 +83,20 @@ namespace sdf
  /// \brief Remove all plugins
  public: void ClearPlugins();
 
- /// \brief Add a plugin to the link.
+ /// \brief Add a plugin to this object.
  /// \param[in] _plugin Plugin to add.
  public: void AddPlugin(const Plugin &_plugin);
 
+ /// \brief Get the plugins attached to this object.
+ /// \return A vector of Plugin, which will be empty if there are no
+ /// plugins.
+ public: const sdf::Plugins &Plugins() const;
+
+ /// \brief Get a mutable vector of plugins attached to this object.
+ /// \return A vector of Plugin, which will be empty if there are no
+ /// plugins.
+ public: sdf::Plugins &Plugins();
+
  /// \brief Private data pointer.
  IGN_UTILS_IMPL_PTR(dataPtr)
  };

include/sdf/Heightmap.hh

@@ -216,6 +216,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// heightmap.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated heightmap values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Imu.hh

@@ -255,6 +255,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// imu sensor.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated sensor values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Joint.hh

@@ -227,6 +227,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// joint.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated joint values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/JointAxis.hh

@@ -223,6 +223,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// joint axis.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \param[in] _index Index of this joint axis
  /// \return SDF element pointer with updated joint values.
  public: sdf::ElementPtr ToElement(unsigned int _index = 0u) const;

include/sdf/Lidar.hh

@@ -234,6 +234,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// lidar.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated sensor values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Light.hh

@@ -126,6 +126,14 @@ namespace sdf
  /// \param[in] _cast True to indicate that the light casts shadows.
  public: void SetCastShadows(const bool _cast);
 
+ /// \brief Get if the light is on
+ /// \return True if the light is on.
+ public: bool LightOn() const;
+
+ /// \brief Set if the light is ON/OFF
+ /// \param[in] _cast True to indicate that the light is on, False otherwise.
+ public: void SetLightOn(const bool _isLightOn);
+
  /// \brief Get the light intensity
  /// \return The light intensity
  public: double Intensity() const;
@@ -270,6 +278,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// light object.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated light values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Link.hh

@@ -364,6 +364,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// link.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated link values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Magnetometer.hh

@@ -87,6 +87,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// magnetometer.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated sensor values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Material.hh

@@ -195,6 +195,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// material.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated material values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Mesh.hh

@@ -99,6 +99,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// mesh.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated mesh values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Model.hh

@@ -24,6 +24,7 @@
 #include <ignition/math/Pose3.hh>
 #include <ignition/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
+#include "sdf/Plugin.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
@@ -417,6 +418,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// model.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \param[in] _useIncludeTag When true, the model's URI is used to create
  /// an SDF `<include>` rather than a `<model>`. The model's URI must be
  /// first set using the `Model::SetUri` function. If the model's URI is
@@ -428,6 +431,18 @@ namespace sdf
  /// \return SDF element pointer with updated model values.
  public: sdf::ElementPtr ToElement(bool _useIncludeTag = true) const;
 
+ /// \brief Check if a given name exists in the FrameAttachedTo graph at the
+ /// scope of the model.
+ /// \param[in] _name Name of the implicit or explicit frame to check.
+ /// To check for a frame in a nested model, prefix the frame name with
+ /// the sequence of nested models containing this frame, delimited by "::".
+ /// \return True if the frame name is found in the FrameAttachedTo graph.
+ /// False otherwise, or if the frame graph is invalid.
+ /// \note This function assumes the model has a valid FrameAttachedTo graph.
+ /// It will return false if the graph is invalid.
+ public: bool NameExistsInFrameAttachedToGraph(
+ const std::string &_name) const;
+
  /// \brief Add a link to the model.
  /// \param[in] _link Link to add.
  /// \return True if successful, false if a link with the name already
@@ -472,6 +487,23 @@ namespace sdf
  /// \param[in] _uri The model's URI.
  public: void SetUri(const std::string &_uri);
 
+ /// \brief Get the plugins attached to this object.
+ /// \return A vector of Plugin, which will be empty if there are no
+ /// plugins.
+ public: const sdf::Plugins &Plugins() const;
+
+ /// \brief Get a mutable vector of plugins attached to this object.
+ /// \return A vector of Plugin, which will be empty if there are no
+ /// plugins.
+ public: sdf::Plugins &Plugins();
+
+ /// \brief Remove all plugins
+ public: void ClearPlugins();
+
+ /// \brief Add a plugin to this object.
+ /// \param[in] _plugin Plugin to add.
+ public: void AddPlugin(const Plugin &_plugin);
+
  /// \brief Give the scoped PoseRelativeToGraph to be used for resolving
  /// poses. This is private and is intended to be called by Root::Load or
  /// World::SetPoseRelativeToGraph if this is a standalone model and

include/sdf/Noise.hh

@@ -164,6 +164,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// noise.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated noise values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/ParticleEmitter.hh

@@ -318,6 +318,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// particle emitter.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated particle emitter values.
  public: sdf::ElementPtr ToElement() const;
 

include/sdf/Physics.hh

@@ -116,6 +116,8 @@ namespace sdf
 
  /// \brief Create and return an SDF element filled with data from this
  /// physics.
+ /// Note that parameter passing functionality is not captured with this
+ /// function.
  /// \return SDF element pointer with updated physics values.
  public: sdf::ElementPtr ToElement() const;