Merge pull request #894 from ignitionrobotics/merge12main

Merge 12 -> main

Changelog.md

@@ -289,6 +289,100 @@
 
 ## libsdformat 11.X
 
+### libsdformat 11.4.1 (2022-03-21)
+
+1. Install sdf/1.8 to versioned path
+    * [Pull request #898](https://github.com/ignitionrobotics/sdformat/pull/898)
+
+### libsdformat 11.4.0 (2022-03-14)
+
+1. Added option to visualize light on the GUI
+    * [Pull request #877](https://github.com/ignitionrobotics/sdformat/pull/877)
+
+1. Fix joint parent/child frame existence checks to include interface elements
+    * [Pull request #855](https://github.com/ignitionrobotics/sdformat/pull/855)
+
+1. Added to light whether it is on or off
+    * [Pull request #851](https://github.com/ignitionrobotics/sdformat/pull/851)
+
+1. Allow model frames (__model__) to be used as joint parent or child
+    * [Pull request #833](https://github.com/ignitionrobotics/sdformat/pull/833)
+
+1. Add ParserConfig flag for preserveFixedJoint
+    * [Pull request #815](https://github.com/ignitionrobotics/sdformat/pull/815)
+
+1. Fix compiler warnings
+    * [Pull request #808](https://github.com/ignitionrobotics/sdformat/pull/808)
+
+1. `sdf_custom`: fix nested model expectations
+    * [Pull request #807](https://github.com/ignitionrobotics/sdformat/pull/807)
+
+1. Fix test compilation with `USE_INTERNAL_URDF`
+    * [Pull request #800](https://github.com/ignitionrobotics/sdformat/pull/800)
+
+1. Replace custom CMake code with `ign-cmake2`
+    * [Pull request #780](https://github.com/ignitionrobotics/sdformat/pull/780)
+
+1. Fix loading nested include with custom attributes
+    * [Pull request #789](https://github.com/ignitionrobotics/sdformat/pull/789)
+
+1. Documentation
+    1. Clarify behavior of `//model/model/static`
+        * [Pull request #713](https://github.com/ignitionrobotics/sdformat/pull/713)
+    1. Only allow one `canonical_link` attribute for model
+        * [Pull request #716](https://github.com/ignitionrobotics/sdformat/pull/716)
+    1. Don't mention elements that can't be included
+        * [Pull request #715](https://github.com/ignitionrobotics/sdformat/pull/715)
+    1. Clarify documentation on `//pose/@relative_to` in the spec
+        * [Pull request #666](https://github.com/ignitionrobotics/sdformat/pull/666)
+    1. Remove duplicate link documentation
+        * [Pull request #702](https://github.com/ignitionrobotics/sdformat/pull/702)
+
+1. Fix URDF fixed joint reduction of plugins
+    * [Pull request #745](https://github.com/ignitionrobotics/sdformat/pull/745)
+
+1. Add `enable_orientation` to 1.6 spec
+    * [Pull request #686](https://github.com/ignitionrobotics/sdformat/pull/686)
+
+1. Remove outdated deprecation note from `parser_urdf.hh`
+    * [Pull request #740](https://github.com/ignitionrobotics/sdformat/pull/740)
+
+1. Add Joint DOM API to access joint sensors
+    * [Pull request #517](https://github.com/ignitionrobotics/sdformat/pull/517)
+
+1. Add force torque sensor
+    * [Pull request #393](https://github.com/ignitionrobotics/sdformat/pull/393)
+    * [Pull request #669](https://github.com/ignitionrobotics/sdformat/pull/669)
+
+1. Check joint parent link names in `Model::Load`
+    * [Pull request #726](https://github.com/ignitionrobotics/sdformat/pull/726)
+
+1. Check joint parent/child names in `Root::Load`
+    * [Pull request #727](https://github.com/ignitionrobotics/sdformat/pull/727)
+
+1. Remove empty `//inertial/pose/@relative_to` during 1_7->1.8 conversion
+    * [Pull request #720](https://github.com/ignitionrobotics/sdformat/pull/720)
+
+1. Fix `xyz` and `rpy` offsets in fixed joint reduction
+    * [Pull request #500](https://github.com/ignitionrobotics/sdformat/pull/500)
+
+1. Infrastructure updates
+    * [Pull request #674](https://github.com/ignitionrobotics/sdformat/pull/674)
+    * [Pull request #650](https://github.com/ignitionrobotics/sdformat/pull/650)
+    * [Pull request #626](https://github.com/ignitionrobotics/sdformat/pull/626)
+    * [Pull request #258](https://github.com/ignitionrobotics/sdformat/pull/258)
+    * [Pull request #237](https://github.com/ignitionrobotics/sdformat/pull/237)
+    * [Pull request #730](https://github.com/ignitionrobotics/sdformat/pull/730)
+
+1. Translate poses of nested models inside other nested models
+    * [Pull request #596](https://github.com/ignitionrobotics/sdformat/pull/596)
+
+1. Fix flattening logic for nested model names
+    * [Pull request #597](https://github.com/ignitionrobotics/sdformat/pull/597)
+
+1. Parse `rpyOffset` as radians
+    * [Pull request #497](https://github.com/ignitionrobotics/sdformat/pull/497)
+
 ### libsdformat 11.3.0 (2021-09-10)
 
 1. Fix world-complete.sdf and add particle_scatter_ratio to v1.8

include/sdf/Light.hh

@@ -134,6 +134,14 @@ namespace sdf
     /// \param[in] _cast True to indicate that the light is on, False otherwise.
     public: void SetLightOn(const bool _isLightOn);
 
+    /// \brief Whether light visualization in the GUI is enabled.
+    /// \return True if visualization is enabled.
+    public: bool Visualize() const;
+
+    /// \brief Set whether light visualization in the GUI is enabled.
+    /// \param[in] _visualize True to view the light on the GUI.
+    public: void SetVisualize(const bool _visualize);
+
     /// \brief Get the light intensity
     /// \return The light intensity
     public: double Intensity() const;

sdf/1.8/CMakeLists.txt

@@ -82,5 +82,5 @@ add_custom_target(schema1_8 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_7.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.8)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.8)
+install(FILES 1_7.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.8)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.8)

sdf/1.8/light.sdf

@@ -18,6 +18,10 @@
     <description>When true, the light is on.</description>
   </element>
 
+  <element name="visualize" type="bool" default="true" required="0">
+    <description>If true, the light is visualized in the GUI</description>
+  </element>
+
   <element name="intensity" type="double" default="1" required="0">
     <description>Scale factor to set the relative power of a light.</description>
   </element>

sdf/1.9/CMakeLists.txt

@@ -82,5 +82,5 @@ add_custom_target(schema1_9 ALL DEPENDS ${SDF_SCHEMA})
 
 set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
 
-install(FILES 1_8.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.9)
-install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/1.9)
+install(FILES 1_8.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.9)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.9)

src/Light.cc

@@ -87,6 +87,9 @@ class sdf::Light::Implementation
 
   /// \brief Is light on ?
   public: bool isLightOn = true;
+
+  /// \brief is visual light enabled ?
+  public: bool visualize = true;
 };
 
 /////////////////////////////////////////////////
@@ -148,6 +151,9 @@ Errors Light::Load(ElementPtr _sdf)
   this->dataPtr->isLightOn = _sdf->Get<bool>("light_on",
       this->dataPtr->isLightOn).first;
 
+  this->dataPtr->visualize = _sdf->Get<bool>("visualize",
+      this->dataPtr->visualize).first;
+
   this->dataPtr->castShadows = _sdf->Get<bool>("cast_shadows",
       this->dataPtr->castShadows).first;
 
@@ -335,6 +341,18 @@ void Light::SetLightOn(const bool _isLightOn)
   this->dataPtr->isLightOn = _isLightOn;
 }
 
+/////////////////////////////////////////////////
+bool Light::Visualize() const
+{
+  return this->dataPtr->visualize;
+}
+
+/////////////////////////////////////////////////
+void Light::SetVisualize(const bool _visualize)
+{
+  this->dataPtr->visualize = _visualize;
+}
+
 /////////////////////////////////////////////////
 ignition::math::Color Light::Diffuse() const
 {

src/Light_TEST.cc

@@ -59,6 +59,10 @@ TEST(DOMLight, DefaultConstruction)
   light.SetLightOn(false);
   EXPECT_FALSE(light.LightOn());
 
+  EXPECT_TRUE(light.Visualize());
+  light.SetVisualize(false);
+  EXPECT_FALSE(light.Visualize());
+
   EXPECT_FALSE(light.CastShadows());
   light.SetCastShadows(true);
   EXPECT_TRUE(light.CastShadows());
@@ -118,6 +122,7 @@ TEST(DOMLight, CopyConstructor)
   light.SetPoseRelativeTo("ground_plane");
   light.SetCastShadows(true);
   light.SetLightOn(false);
+  light.SetVisualize(false);
   light.SetDiffuse(ignition::math::Color(0.4f, 0.5f, 0.6f, 1.0));
   light.SetSpecular(ignition::math::Color(0.8f, 0.9f, 0.1f, 1.0));
   light.SetAttenuationRange(3.2);
@@ -137,6 +142,7 @@ TEST(DOMLight, CopyConstructor)
   EXPECT_EQ("ground_plane", light2.PoseRelativeTo());
   EXPECT_TRUE(light2.CastShadows());
   EXPECT_FALSE(light2.LightOn());
+  EXPECT_FALSE(light2.Visualize());
   EXPECT_EQ(ignition::math::Color(0.4f, 0.5f, 0.6f, 1), light2.Diffuse());
   EXPECT_EQ(ignition::math::Color(0.8f, 0.9f, 0.1f, 1), light2.Specular());
   EXPECT_DOUBLE_EQ(3.2, light2.AttenuationRange());
@@ -160,6 +166,7 @@ TEST(DOMLight, CopyAssignmentOperator)
   light.SetPoseRelativeTo("ground_plane");
   light.SetCastShadows(true);
   light.SetLightOn(false);
+  light.SetVisualize(false);
   light.SetDiffuse(ignition::math::Color(0.4f, 0.5f, 0.6f, 1.0));
   light.SetSpecular(ignition::math::Color(0.8f, 0.9f, 0.1f, 1.0));
   light.SetAttenuationRange(3.2);
@@ -180,6 +187,7 @@ TEST(DOMLight, CopyAssignmentOperator)
   EXPECT_EQ("ground_plane", light2.PoseRelativeTo());
   EXPECT_TRUE(light2.CastShadows());
   EXPECT_FALSE(light2.LightOn());
+  EXPECT_FALSE(light2.Visualize());
   EXPECT_EQ(ignition::math::Color(0.4f, 0.5f, 0.6f, 1), light2.Diffuse());
   EXPECT_EQ(ignition::math::Color(0.8f, 0.9f, 0.1f, 1), light2.Specular());
   EXPECT_DOUBLE_EQ(3.2, light2.AttenuationRange());
@@ -203,6 +211,7 @@ TEST(DOMLight, MoveConstructor)
   light.SetPoseRelativeTo("ground_plane");
   light.SetCastShadows(true);
   light.SetLightOn(false);
+  light.SetVisualize(false);
   light.SetDiffuse(ignition::math::Color(0.4f, 0.5f, 0.6f, 1.0));
   light.SetSpecular(ignition::math::Color(0.8f, 0.9f, 0.1f, 1.0));
   light.SetAttenuationRange(3.2);
@@ -222,6 +231,7 @@ TEST(DOMLight, MoveConstructor)
   EXPECT_EQ("ground_plane", light2.PoseRelativeTo());
   EXPECT_TRUE(light2.CastShadows());
   EXPECT_FALSE(light2.LightOn());
+  EXPECT_FALSE(light2.Visualize());
   EXPECT_EQ(ignition::math::Color(0.4f, 0.5f, 0.6f, 1), light2.Diffuse());
   EXPECT_EQ(ignition::math::Color(0.8f, 0.9f, 0.1f, 1), light2.Specular());
   EXPECT_DOUBLE_EQ(3.2, light2.AttenuationRange());
@@ -245,6 +255,7 @@ TEST(DOMLight, MoveAssignment)
   light.SetPoseRelativeTo("ground_plane");
   light.SetCastShadows(true);
   light.SetLightOn(false);
+  light.SetVisualize(false);
   light.SetDiffuse(ignition::math::Color(0.4f, 0.5f, 0.6f, 1.0));
   light.SetSpecular(ignition::math::Color(0.8f, 0.9f, 0.1f, 1.0));
   light.SetAttenuationRange(3.2);
@@ -265,6 +276,7 @@ TEST(DOMLight, MoveAssignment)
   EXPECT_EQ("ground_plane", light2.PoseRelativeTo());
   EXPECT_TRUE(light2.CastShadows());
   EXPECT_FALSE(light2.LightOn());
+  EXPECT_FALSE(light2.Visualize());
   EXPECT_EQ(ignition::math::Color(0.4f, 0.5f, 0.6f, 1), light2.Diffuse());
   EXPECT_EQ(ignition::math::Color(0.8f, 0.9f, 0.1f, 1), light2.Specular());
   EXPECT_DOUBLE_EQ(3.2, light2.AttenuationRange());