Reverting to PrintConfig with basic API

Signed-off-by: Aaron Chong <[email protected]>

include/sdf/PrintConfig.hh

@@ -26,21 +26,39 @@ namespace sdf
 {
 inline namespace SDF_VERSION_NAMESPACE
 {
-/// \enum PrintConfig
-/// \brief The different types of available printing configuration.
-enum class PrintConfig
+
+/// This class contains configuration options for printing elements.
+class SDFORMAT_VISIBLE PrintConfig
 {
-  /// \brief Default config
-  DEFAULT,
+  /// \brief Default constructor. All options are set to false by default.
+  public: PrintConfig();
+
+  /// \brief Sets the option for printing pose rotations in degrees if true,
+  /// otherwise they will be printed as radians by default.
+  /// \param[in] _value Whether to print pose rotations in degrees.
+  public: void SetRotationInDegrees(bool _value);
+
+  /// \brief Gets the current option of whether pose rotations are printed in
+  /// degrees.
+  /// \return True if pose rotations are printed in degrees, false otherwise.
+  public: bool GetRotationInDegrees() const;
 
-  /// \brief Displays rotations in poses in degrees.
-  ROTATION_IN_DEGREES,
+  /// \brief Sets the option for printing pose rotation in degrees as well as
+  /// snapping the rotation to commonly used angles of 45 degrees along axes
+  /// with a tolerance of 0.01 degrees, with the exception of singularities,
+  /// if set to true, otherwise they will be printed as radians by default.
+  public: void SetRotationSnapToDegrees(bool _value);
 
-  /// \brief Displays rotations in poses in degrees as well as snaps to the 16
-  /// commonly used angles lying on the axes in intervals of 45 degrees with
-  /// a tolerance of 0.01 degrees, with the exception of singularities.
-  ROTATION_SNAP_TO_DEGREES
+  /// \brief Gets the current option of whether pose rotations are printed in
+  /// degrees as well as snapping them to commonly used angles.
+  /// \return True if pose rotations are to be printed in degrees, as well as
+  /// snapping to commonly used angles, false otherwise.
+  public: bool GetRotationSnapToDegrees() const;
+
+  /// \brief Private data pointer.
+  IGN_UTILS_IMPL_PTR(dataPtr)
 };
+
 }
 }
 

src/CMakeLists.txt

@@ -60,6 +60,7 @@ set (sources
   Pbr.cc
   Physics.cc
   Plane.cc
+  PrintConfig.cc
   Root.cc
   Scene.cc
   SDF.cc
@@ -134,6 +135,7 @@ if (BUILD_SDF_TEST)
     Pbr_TEST.cc
     Physics_TEST.cc
     Plane_TEST.cc
+    PrintConfig_TEST.cc
     Root_TEST.cc
     Scene_TEST.cc
     SemanticPose_TEST.cc

src/PrintConfig.cc

@@ -0,0 +1,64 @@
+/*
+ * Copyright 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include "sdf/PrintConfig.hh"
+
+namespace sdf
+{
+inline namespace SDF_VERSION_NAMESPACE
+{
+/////////////////////////////////////////////////
+class PrintConfig::Implementation
+{
+  public: bool rotationInDegrees = false;
+
+  public: bool rotationSnapToDegrees = false;
+};
+
+/////////////////////////////////////////////////
+PrintConfig::PrintConfig()
+    : dataPtr(ignition::utils::MakeImpl<Implementation>())
+{
+}
+
+/////////////////////////////////////////////////
+void PrintConfig::SetRotationInDegrees(bool _value)
+{
+  this->dataPtr->rotationInDegrees = _value;
+}
+
+/////////////////////////////////////////////////
+bool PrintConfig::GetRotationInDegrees() const
+{
+  return this->dataPtr->rotationInDegrees;
+}
+
+/////////////////////////////////////////////////
+void PrintConfig::SetRotationSnapToDegrees(bool _value)
+{
+  this->dataPtr->rotationSnapToDegrees = _value;
+}
+
+/////////////////////////////////////////////////
+bool PrintConfig::GetRotationSnapToDegrees() const
+{
+  return this->dataPtr->rotationSnapToDegrees;
+}
+
+/////////////////////////////////////////////////
+}
+}

src/PrintConfig_TEST.cc

@@ -0,0 +1,54 @@
+/*
+ * Copyright 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include <gtest/gtest.h>
+
+#include "sdf/PrintConfig.hh"
+
+/////////////////////////////////////////////////
+TEST(PrintConfig, Construction)
+{
+  sdf::PrintConfig config;
+  EXPECT_FALSE(config.GetRotationInDegrees());
+  EXPECT_FALSE(config.GetRotationSnapToDegrees());
+}
+
+/////////////////////////////////////////////////
+TEST(PrintConfig, RotationInDegrees)
+{
+  sdf::PrintConfig config;
+  EXPECT_FALSE(config.GetRotationInDegrees());
+
+  config.SetRotationInDegrees(true);
+  EXPECT_TRUE(config.GetRotationInDegrees());
+
+  config.SetRotationInDegrees(false);
+  EXPECT_FALSE(config.GetRotationInDegrees());
+}
+
+/////////////////////////////////////////////////
+TEST(PrintConfig, RotationSnapToDegrees)
+{
+  sdf::PrintConfig config;
+  EXPECT_FALSE(config.GetRotationSnapToDegrees());
+
+  config.SetRotationSnapToDegrees(true);
+  EXPECT_TRUE(config.GetRotationSnapToDegrees());
+
+  config.SetRotationSnapToDegrees(false);
+  EXPECT_FALSE(config.GetRotationSnapToDegrees());
+}

src/SDF.cc

@@ -203,11 +203,11 @@ void SDF::PrintValues(const PrintConfig &_config)
 /////////////////////////////////////////////////
 void SDF::PrintValues(const std::string &_option)
 {
-  PrintConfig config = PrintConfig::DEFAULT;
+  PrintConfig config;
   if (_option == "in_degrees")
-    config = PrintConfig::ROTATION_IN_DEGREES;
+    config.SetRotationInDegrees(true);
   else if (_option == "snap_to_degrees")
-    config = PrintConfig::ROTATION_SNAP_TO_DEGREES;
+    config.SetRotationSnapToDegrees(true);
 
   this->Root()->PrintValues("", config);
 }