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Add more link APIs, with tutorial #375

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merged 4 commits into from
Oct 9, 2020
Merged

Add more link APIs, with tutorial #375

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96411b2
Add more link APIs, with tutorial
chapulina Sep 22, 2020
2543467
Merge branch 'ign-gazebo3' into chapulina/3/link_api
chapulina Sep 30, 2020
80a4220
Merge branch 'ign-gazebo3' into chapulina/3/link_api
chapulina Oct 6, 2020
4022045
Merge branch 'ign-gazebo3' into chapulina/3/link_api
chapulina Oct 6, 2020
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51 changes: 51 additions & 0 deletions include/ignition/gazebo/Link.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include <memory>
#include <optional>
#include <string>
#include <vector>

#include <ignition/math/Pose3.hh>
#include <ignition/math/Quaternion.hh>
Expand Down Expand Up @@ -114,6 +115,56 @@ namespace ignition
public: std::optional<Model> ParentModel(
const EntityComponentManager &_ecm) const;

/// \brief Check if this is the canonical link.
/// \param[in] _ecm Entity-component manager.
/// \return True if it is the canonical link.
public: bool IsCanonical(const EntityComponentManager &_ecm) const;

/// \brief Get whether this link has wind enabled.
/// \param[in] _ecm Entity-component manager.
/// \return True if wind mode is on.
public: bool WindMode(const EntityComponentManager &_ecm) const;

/// \brief Get the ID of a collision entity which is an immediate child of
/// this link.
/// \param[in] _ecm Entity-component manager.
/// \param[in] _name Collision name.
/// \return Collision entity.
public: gazebo::Entity CollisionByName(const EntityComponentManager &_ecm,
const std::string &_name) const;

/// \brief Get the ID of a visual entity which is an immediate child of
/// this link.
/// \param[in] _ecm Entity-component manager.
/// \param[in] _name Visual name.
/// \return Visual entity.
public: gazebo::Entity VisualByName(const EntityComponentManager &_ecm,
const std::string &_name) const;

/// \brief Get all collisions which are immediate children of this link.
/// \param[in] _ecm Entity-component manager.
/// \return All collisions in this link.
public: std::vector<gazebo::Entity> Collisions(
const EntityComponentManager &_ecm) const;

/// \brief Get all visuals which are immediate children of this link.
/// \param[in] _ecm Entity-component manager.
/// \return All visuals in this link.
public: std::vector<gazebo::Entity> Visuals(
const EntityComponentManager &_ecm) const;

/// \brief Get the number of collisions which are immediate children of
/// this link.
/// \param[in] _ecm Entity-component manager.
/// \return Number of collisions in this link.
public: uint64_t CollisionCount(const EntityComponentManager &_ecm) const;

/// \brief Get the number of visuals which are immediate children of this
/// link.
/// \param[in] _ecm Entity-component manager.
/// \return Number of visuals in this link.
public: uint64_t VisualCount(const EntityComponentManager &_ecm) const;

/// \brief Get the pose of the link frame in the world coordinate frame.
/// \param[in] _ecm Entity-component manager.
/// \return Absolute Pose of the link or nullopt if the entity does not
Expand Down
6 changes: 0 additions & 6 deletions include/ignition/gazebo/Model.hh
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Expand Up @@ -98,12 +98,6 @@ namespace ignition
/// \return Model's name.
public: std::string Name(const EntityComponentManager &_ecm) const;

/// \brief Get the ID of the entity which is the immediate parent of this
/// model.
/// \param[in] _ecm Entity-component manager.
/// \return Parent entity ID.
public: gazebo::Entity Parent(const EntityComponentManager &_ecm) const;

/// \brief Get whether this model is static.
/// \param[in] _ecm Entity-component manager.
/// \return True if static.
Expand Down
69 changes: 69 additions & 0 deletions src/Link.cc
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Expand Up @@ -18,6 +18,8 @@
#include <ignition/msgs/Utility.hh>

#include "ignition/gazebo/components/AngularVelocity.hh"
#include "ignition/gazebo/components/CanonicalLink.hh"
#include "ignition/gazebo/components/Collision.hh"
#include "ignition/gazebo/components/ExternalWorldWrenchCmd.hh"
#include "ignition/gazebo/components/Inertial.hh"
#include "ignition/gazebo/components/Joint.hh"
Expand All @@ -28,6 +30,8 @@
#include "ignition/gazebo/components/Name.hh"
#include "ignition/gazebo/components/ParentEntity.hh"
#include "ignition/gazebo/components/Pose.hh"
#include "ignition/gazebo/components/Visual.hh"
#include "ignition/gazebo/components/WindMode.hh"

#include "ignition/gazebo/Link.hh"

Expand Down Expand Up @@ -108,6 +112,71 @@ std::optional<Model> Link::ParentModel(const EntityComponentManager &_ecm) const
return std::optional<Model>(parent->Data());
}

//////////////////////////////////////////////////
Entity Link::CollisionByName(const EntityComponentManager &_ecm,
const std::string &_name) const
{
return _ecm.EntityByComponents(
components::ParentEntity(this->dataPtr->id),
components::Name(_name),
components::Collision());
}

//////////////////////////////////////////////////
Entity Link::VisualByName(const EntityComponentManager &_ecm,
const std::string &_name) const
{
return _ecm.EntityByComponents(
components::ParentEntity(this->dataPtr->id),
components::Name(_name),
components::Visual());
}

//////////////////////////////////////////////////
std::vector<Entity> Link::Collisions(const EntityComponentManager &_ecm) const
{
return _ecm.EntitiesByComponents(
components::ParentEntity(this->dataPtr->id),
components::Collision());
}

//////////////////////////////////////////////////
std::vector<Entity> Link::Visuals(const EntityComponentManager &_ecm) const
{
return _ecm.EntitiesByComponents(
components::ParentEntity(this->dataPtr->id),
components::Visual());
}

//////////////////////////////////////////////////
uint64_t Link::CollisionCount(const EntityComponentManager &_ecm) const
{
return this->Collisions(_ecm).size();
}

//////////////////////////////////////////////////
uint64_t Link::VisualCount(const EntityComponentManager &_ecm) const
{
return this->Visuals(_ecm).size();
}

//////////////////////////////////////////////////
bool Link::IsCanonical(const EntityComponentManager &_ecm) const
{
auto comp = _ecm.Component<components::CanonicalLink>(this->dataPtr->id);
return comp != nullptr;
}

//////////////////////////////////////////////////
bool Link::WindMode(const EntityComponentManager &_ecm) const
{
auto comp = _ecm.Component<components::WindMode>(this->dataPtr->id);
if (comp)
return comp->Data();
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Is comp->Data() always going to be true if set, or can it be set as true or false? The logic here might be confusing since we don't immediately know the type of Data() is compatible with the return bool value.

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we don't immediately know the type of Data() is compatible with the return bool value

After casting the component to components::WindMode, yes, the data will always be bool. If WindMode's data type ever changes, this will fail compilation. Note that this is different from CanonicalLink above, which doesn't hold any data.

I guess it may be hard for a developer to know that the type of WindMode is bool without looking at that class' definition, but I'm not sure how to make this clearer here.

Is comp->Data() always going to be true if set, or can it be set as true or false?

Any system could change the set the value to true or false.


return false;
}

//////////////////////////////////////////////////
std::optional<math::Pose3d> Link::WorldPose(
const EntityComponentManager &_ecm) const
Expand Down
10 changes: 0 additions & 10 deletions src/Model.cc
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Expand Up @@ -86,16 +86,6 @@ std::string Model::Name(const EntityComponentManager &_ecm) const
return "";
}

//////////////////////////////////////////////////
Entity Model::Parent(const EntityComponentManager &_ecm) const
{
auto comp = _ecm.Component<components::ParentEntity>(this->dataPtr->id);
if (comp)
return comp->Data();

return kNullEntity;
}

//////////////////////////////////////////////////
bool Model::Static(const EntityComponentManager &_ecm) const
{
Expand Down
69 changes: 69 additions & 0 deletions test/integration/link.cc
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Expand Up @@ -20,6 +20,8 @@
#include <ignition/common/Console.hh>

#include <ignition/gazebo/components/AngularVelocity.hh>
#include <ignition/gazebo/components/CanonicalLink.hh>
#include <ignition/gazebo/components/Collision.hh>
#include <ignition/gazebo/components/Inertial.hh>
#include <ignition/gazebo/components/Joint.hh>
#include <ignition/gazebo/components/LinearAcceleration.hh>
Expand All @@ -29,6 +31,7 @@
#include <ignition/gazebo/components/Name.hh>
#include <ignition/gazebo/components/ParentEntity.hh>
#include <ignition/gazebo/components/Pose.hh>
#include <ignition/gazebo/components/Visual.hh>

#include <ignition/gazebo/EntityComponentManager.hh>
#include <ignition/gazebo/SdfEntityCreator.hh>
Expand Down Expand Up @@ -135,6 +138,72 @@ TEST_F(LinkIntegrationTest, ParentModel)
EXPECT_EQ(eModel, parentModel->Entity());
}

//////////////////////////////////////////////////
TEST_F(LinkIntegrationTest, VisualByName)
{
EntityComponentManager ecm;

// Link
auto eLink = ecm.CreateEntity();
Link link(eLink);
EXPECT_EQ(eLink, link.Entity());
EXPECT_EQ(0u, link.VisualCount(ecm));

// Visual
auto eVisual = ecm.CreateEntity();
ecm.CreateComponent<components::Visual>(eVisual, components::Visual());
ecm.CreateComponent<components::ParentEntity>(eVisual,
components::ParentEntity(eLink));
ecm.CreateComponent<components::Name>(eVisual,
components::Name("visual_name"));

// Check link
EXPECT_EQ(eVisual, link.VisualByName(ecm, "visual_name"));
EXPECT_EQ(1u, link.VisualCount(ecm));
}

//////////////////////////////////////////////////
TEST_F(LinkIntegrationTest, CollisionByName)
{
EntityComponentManager ecm;

// Link
auto eLink = ecm.CreateEntity();
Link link(eLink);
EXPECT_EQ(eLink, link.Entity());
EXPECT_EQ(0u, link.CollisionCount(ecm));

// Collision
auto eCollision = ecm.CreateEntity();
ecm.CreateComponent<components::Collision>(eCollision,
components::Collision());
ecm.CreateComponent<components::ParentEntity>(eCollision,
components::ParentEntity(eLink));
ecm.CreateComponent<components::Name>(eCollision,
components::Name("collision_name"));

// Check link
EXPECT_EQ(eCollision, link.CollisionByName(ecm, "collision_name"));
EXPECT_EQ(1u, link.CollisionCount(ecm));
}

//////////////////////////////////////////////////
TEST_F(LinkIntegrationTest, IsCanonical)
{
EntityComponentManager ecm;

auto id = ecm.CreateEntity();
ecm.CreateComponent<components::Link>(id, components::Link());

Link link(id);

EXPECT_FALSE(link.IsCanonical(ecm));

ecm.CreateComponent<components::CanonicalLink>(id,
components::CanonicalLink());
EXPECT_TRUE(link.IsCanonical(ecm));
}

//////////////////////////////////////////////////
TEST_F(LinkIntegrationTest, LinkPoses)
{
Expand Down
19 changes: 0 additions & 19 deletions test/integration/model.cc
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Expand Up @@ -90,25 +90,6 @@ TEST_F(ModelIntegrationTest, Name)
EXPECT_EQ("model_name", model.Name(ecm));
}

//////////////////////////////////////////////////
TEST_F(ModelIntegrationTest, Parent)
{
EntityComponentManager ecm;

auto id = ecm.CreateEntity();
ecm.CreateComponent<components::Model>(id, components::Model());

Model model(id);

// No parent
EXPECT_EQ(kNullEntity, model.Parent(ecm));

// Add parent
ecm.CreateComponent<components::ParentEntity>(id,
components::ParentEntity(100u));
EXPECT_EQ(100u, model.Parent(ecm));
}

//////////////////////////////////////////////////
TEST_F(ModelIntegrationTest, Static)
{
Expand Down
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