3 ➡️ 4 (#253)

Signed-off-by: Louise Poubel <[email protected]>

CMakeLists.txt

@@ -13,7 +13,8 @@ find_package(ignition-cmake2 2.1.0 REQUIRED)
 #============================================================================
 # Configure the project
 #============================================================================
-ign_configure_project(VERSION_SUFFIX)
+ign_configure_project()
+
 
 #============================================================================
 # Set project-specific options

Changelog.md

@@ -79,6 +79,62 @@
 
 ### Ignition Physics 3.x.x (20XX-XX-XX)
 
+### Ignition Physics 3.2.0 (2021-04-28)
+
+1. Infrastructure
+    * [Pull request #221](https://github.com/ignitionrobotics/ign-physics/pull/221)
+    * [Pull request #215](https://github.com/ignitionrobotics/ign-physics/pull/215)
+    * [Pull request #211](https://github.com/ignitionrobotics/ign-physics/pull/211)
+    * [Pull request #210](https://github.com/ignitionrobotics/ign-physics/pull/210)
+
+1. Linters
+    * [Pull request #201](https://github.com/ignitionrobotics/ign-physics/pull/201)
+    * [Pull request #154](https://github.com/ignitionrobotics/ign-physics/pull/154)
+
+1. Documentation
+    * [Pull request #164](https://github.com/ignitionrobotics/ign-physics/pull/164)
+    * [Pull request #163](https://github.com/ignitionrobotics/ign-physics/pull/163)
+    * [Pull request #187](https://github.com/ignitionrobotics/ign-physics/pull/187)
+    * [Pull request #162](https://github.com/ignitionrobotics/ign-physics/pull/162)
+    * [Pull request #120](https://github.com/ignitionrobotics/ign-physics/pull/120)
+    * [Pull request #144](https://github.com/ignitionrobotics/ign-physics/pull/144)
+    * [Pull request #131](https://github.com/ignitionrobotics/ign-physics/pull/131)
+    * [Pull request #128](https://github.com/ignitionrobotics/ign-physics/pull/128)
+    * [Pull request #115](https://github.com/ignitionrobotics/ign-physics/pull/115)
+    * [Pull request #104](https://github.com/ignitionrobotics/ign-physics/pull/104)
+    * [Pull request #105](https://github.com/ignitionrobotics/ign-physics/pull/105)
+    * [Pull request #106](https://github.com/ignitionrobotics/ign-physics/pull/106)
+
+1. Add Windows installation
+    * [Pull request #194](https://github.com/ignitionrobotics/ign-physics/pull/194)
+
+1. dartsim-plugin windows build fixes
+    * [Pull request #148](https://github.com/ignitionrobotics/ign-physics/pull/148)
+
+1. [TPE] Skip computing collisions for static objects
+    * [Pull request #181](https://github.com/ignitionrobotics/ign-physics/pull/181)
+
+1. [TPE] Update link pose and velocity
+    * [Pull request #179](https://github.com/ignitionrobotics/ign-physics/pull/179)
+
+1. [TPE] Fix poseDirty getter
+    * [Pull request #182](https://github.com/ignitionrobotics/ign-physics/pull/182)
+
+1. Add restitution coefficient support for bouncing
+    * [Pull request #139](https://github.com/ignitionrobotics/ign-physics/pull/139)
+
+1. Fix compilation with gcc 10.2.0
+    * [Pull request #185](https://github.com/ignitionrobotics/ign-physics/pull/185)
+
+1. Support setting canonical link
+    * [Pull request #142](https://github.com/ignitionrobotics/ign-physics/pull/142)
+
+1. Ignore invalid joint commands
+    * [Pull request #137](https://github.com/ignitionrobotics/ign-physics/pull/137)
+
+1. Fix CONFIG arg in ign_find_package(DART) call
+    * [Pull request #119](https://github.com/ignitionrobotics/ign-physics/pull/119)
+
 ### Ignition Physics 3.1.0 (2020-10-18)
 
 1. Support for slip compliance in the dartsim-plugin.
@@ -114,6 +170,48 @@
 
 ### Ignition Physics 2.x.x (20XX-XX-XX)
 
+### Ignition Physics 2.4.0 (2021-04-14)
+
+1. [TPE] Update link pose and velocity
+    * [Pull request #179](https://github.com/ignitionrobotics/ign-physics/pull/179)
+
+1. Infrastructure
+    * [Pull request #221](https://github.com/ignitionrobotics/ign-physics/pull/221)
+    * [Pull request #211](https://github.com/ignitionrobotics/ign-physics/pull/211)
+    * [Pull request #130](https://github.com/ignitionrobotics/ign-physics/pull/130)
+    * [Pull request #118](https://github.com/ignitionrobotics/ign-physics/pull/118)
+
+1. Documentation
+    * [Pull request #187](https://github.com/ignitionrobotics/ign-physics/pull/187)
+    * [Pull request #194](https://github.com/ignitionrobotics/ign-physics/pull/194)
+
+1. TPE: Skip computing collisions for static objects
+    * [Pull request #181](https://github.com/ignitionrobotics/ign-physics/pull/181)
+
+1. Add restitution coefficient support for bouncing
+    * [Pull request #139](https://github.com/ignitionrobotics/ign-physics/pull/139)
+
+1. Fix compilation with gcc 10.2.0
+    * [Pull request #185](https://github.com/ignitionrobotics/ign-physics/pull/185)
+
+1. Fix TPE poseDirty getter
+    * [Pull request #182](https://github.com/ignitionrobotics/ign-physics/pull/182)
+
+1. Support setting canonical link
+    * [Pull request #142](https://github.com/ignitionrobotics/ign-physics/pull/142)
+
+1. Resolved codecheck issues
+    * [Pull request #154](https://github.com/ignitionrobotics/ign-physics/pull/154)
+
+1. Ignore invalid joint commands
+    * [Pull request #137](https://github.com/ignitionrobotics/ign-physics/pull/137)
+
+1. Support getting shape AABB in world frame
+    * [Pull request #127](https://github.com/ignitionrobotics/ign-physics/pull/127)
+
+1. Fix CONFIG arg in `ign_find_package(DART)` call
+    * [Pull request #119](https://github.com/ignitionrobotics/ign-physics/pull/119)
+
 ### Ignition Physics 2.3.0 (2020-09-29)
 
 1. Support for slip compliance in the dartsim-plugin.

README.md

@@ -9,9 +9,9 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-physics/branch/main/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-physics)
-Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-main-bionic-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-main-bionic-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-main-homebrew-amd64)
+Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-physics/branch/ign-physics4/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-physics)
+Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-ign-physics4-bionic-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-ign-physics4-bionic-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-ign-physics4-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-ign-physics4-homebrew-amd64)
 Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ign_physics-ci-win)](https://build.osrfoundation.org/job/ign_physics-ci-win)
 
 Ignition Physics, a component of [Ignition
@@ -74,7 +74,7 @@ See the [installation tutorial](https://ignitionrobotics.org/api/physics/4.0/ins
 
 # Usage
 
-Please refer to the [examples directory](https://github.com/ignitionrobotics/ign-physics/raw/main/examples/).
+Please refer to the [examples directory](https://github.com/ignitionrobotics/ign-physics/raw/ign-physics4/examples/).
 
 # Documentation
 
@@ -91,7 +91,7 @@ You can also generate the documentation from a clone of this repository by follo
 2. Clone the repository
 
     ```
-    git clone https://github.com/ignitionrobotics/ign-physics -b main
+    git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics4
     ```
 
 3. Configure and build the documentation.

tpe/lib/src/Entity.hh

@@ -173,7 +173,7 @@ class IGNITION_PHYSICS_TPELIB_VISIBLE Entity
 
   /// \brief Get number of children
   /// \return Map of child id's to child entities
-  protected: std::map<std::size_t, std::shared_ptr<Entity>> &GetChildren()
+  public: std::map<std::size_t, std::shared_ptr<Entity>> &GetChildren()
       const;
 
   /// \brief Update the entity bounding box

tpe/lib/src/Link.cc

@@ -42,3 +42,41 @@ Entity &Link::AddCollision()
   this->ChildrenChanged();
   return *it->second.get();
 }
+
+//////////////////////////////////////////////////
+void Link::SetLinearVelocity(const math::Vector3d &_velocity)
+{
+  this->linearVelocity = _velocity;
+}
+
+//////////////////////////////////////////////////
+math::Vector3d Link::GetLinearVelocity() const
+{
+  return this->linearVelocity;
+}
+
+//////////////////////////////////////////////////
+void Link::SetAngularVelocity(const math::Vector3d &_velocity)
+{
+  this->angularVelocity = _velocity;
+}
+
+//////////////////////////////////////////////////
+math::Vector3d Link::GetAngularVelocity() const
+{
+  return this->angularVelocity;
+}
+
+//////////////////////////////////////////////////
+void Link::UpdatePose(double _timeStep)
+{
+  if (this->linearVelocity == math::Vector3d::Zero &&
+      this->angularVelocity == math::Vector3d::Zero)
+    return;
+
+  math::Pose3d currentPose = this->GetPose();
+  math::Pose3d nextPose(
+    currentPose.Pos() + this->linearVelocity * _timeStep,
+    currentPose.Rot().Integrate(this->angularVelocity, _timeStep));
+  this->SetPose(nextPose);
+}

tpe/lib/src/Link.hh

@@ -18,6 +18,8 @@
 #ifndef IGNITION_PHYSICS_TPE_LIB_SRC_LINK_HH_
 #define IGNITION_PHYSICS_TPE_LIB_SRC_LINK_HH_
 
+#include <ignition/utilities/SuppressWarning.hh>
+
 #include "ignition/physics/tpelib/Export.hh"
 
 #include "Entity.hh"
@@ -42,6 +44,34 @@ class IGNITION_PHYSICS_TPELIB_VISIBLE Link : public Entity
   /// \brief Add a collision
   /// \return Newly created Collision
   public: Entity &AddCollision();
+
+  /// \brief Set the linear velocity of link relative to parent
+  /// \param[in] _velocity linear velocity in meters per second
+  public: void SetLinearVelocity(const math::Vector3d &_velocity);
+
+  /// \brief Get the linear velocity of link relative to parent
+  /// \return linear velocity of link in meters per second
+  public: math::Vector3d GetLinearVelocity() const;
+
+  /// \brief Set the angular velocity of link relative to parent
+  /// \param[in] _velocity angular velocity in radians per second
+  public: void SetAngularVelocity(const math::Vector3d &_velocity);
+
+  /// \brief Get the angular velocity of link relative to parent
+  /// \return angular velocity in radians per second
+  public: math::Vector3d GetAngularVelocity() const;
+
+  /// \brief Update the pose of the entity
+  /// \param[in] _timeStep current world timestep in seconds
+  public: virtual void UpdatePose(double _timeStep);
+
+  IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+  /// \brief linear velocity of link
+  protected: math::Vector3d linearVelocity;
+
+  /// \brief angular velocity of link
+  protected: math::Vector3d angularVelocity;
+  IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
 };
 
 }