10 ➡️ 11 (#624)

Signed-off-by: Jenn Nguyen <[email protected]>

sdf/1.6/particle_emitter.sdf

@@ -104,6 +104,17 @@
     </description>
   </element>
 
+  <element name="particle_scatter_ratio" type="float" default="0.65" required="0">
+    <description>
+    This is used to determine the ratio of particles that will be detected
+    by sensors. Increasing the ratio means there is a higher chance of
+    particles reflecting and interfering with depth sensing, making the
+    emitter appear more dense. Decreasing the ratio decreases the chance
+    of particles reflecting and interfering with depth sensing, making it
+    appear less dense.
+    </description>
+  </element>
+
   <include filename="pose.sdf" required="0"/>
   <include filename="material.sdf" required="0"/>
 </element>

src/CMakeLists.txt

@@ -53,6 +53,7 @@ set (sources
   parser_urdf.cc
   ParserConfig.cc
   Param.cc
+  ParamPassing.cc
   ParticleEmitter.cc
   Pbr.cc
   Physics.cc
@@ -197,6 +198,21 @@ if (BUILD_SDF_TEST)
     target_link_libraries(UNIT_parser_urdf_TEST PRIVATE
       ${TinyXML2_LIBRARIES})
   endif()
+
+  if (NOT WIN32)
+    set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS ParamPassing.cc XmlUtils.cc parser.cc
+    parser_urdf.cc FrameSemantics.cc Converter.cc EmbeddedSdf.cc SDFExtension.cc Utils.cc)
+    sdf_build_tests(ParamPassing_TEST.cc)
+    if (NOT USE_INTERNAL_URDF)
+      target_compile_options(UNIT_ParamPassing_TEST PRIVATE ${URDF_CFLAGS})
+      if (${CMAKE_VERSION} VERSION_GREATER 3.13)
+        target_link_options(UNIT_ParamPassing_TEST PRIVATE ${URDF_LDFLAGS})
+      endif()
+      target_link_libraries(UNIT_ParamPassing_TEST PRIVATE ${URDF_LIBRARIES})
+    endif()
+    target_link_libraries(UNIT_ParamPassing_TEST PRIVATE
+      ${TinyXML2_LIBRARIES})
+  endif()
 endif()
 
 sdf_add_library(${sdf_target} ${sources})