Root to element (#842)

* Adding ToElement conversion to Root DOM

Signed-off-by: Nate Koenig <[email protected]>

* Added non-const mutable accessors for root child objects

Signed-off-by: Nate Koenig <[email protected]>

* Remove comment

Signed-off-by: Nate Koenig <[email protected]>

* Adding Root::ToElemnt

Signed-off-by: Nate Koenig <[email protected]>

* Handle include plugins

Signed-off-by: Nate Koenig <[email protected]>

* style

Signed-off-by: Nate Koenig <[email protected]>

* Added parameter passing documentation

Signed-off-by: Nate Koenig <[email protected]>

Co-authored-by: Nate Koenig <[email protected]>

include/sdf/Actor.hh

@@ -381,6 +381,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// actor.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated actor values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/AirPressure.hh

@@ -86,6 +86,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// air pressure sensor.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated sensor values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Altimeter.hh

@@ -78,6 +78,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// altimeter sensor.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated sensor values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Atmosphere.hh

@@ -97,6 +97,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// atmosphere.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated atmosphere values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Box.hh

@@ -67,6 +67,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// box.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated box values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Camera.hh

@@ -490,6 +490,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// camera.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated camera values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Capsule.hh

@@ -74,6 +74,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// capsule.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated capsule values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Collision.hh

@@ -117,6 +117,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// collision.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated collision values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Cylinder.hh

@@ -74,6 +74,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// cylinder.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated cylinder values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Ellipsoid.hh

@@ -66,6 +66,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// ellipsoid.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated ellipsoid values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/ForceTorque.hh

@@ -156,6 +156,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// force torque sensor.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated sensor values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Geometry.hh

@@ -191,6 +191,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// geometry.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated geometry values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Gui.hh

@@ -64,6 +64,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// gui.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated gui values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Heightmap.hh

@@ -216,6 +216,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// heightmap.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated heightmap values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Imu.hh

@@ -255,6 +255,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// imu sensor.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated sensor values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Joint.hh

@@ -227,6 +227,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// joint.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated joint values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/JointAxis.hh

@@ -223,6 +223,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// joint axis.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \param[in] _index Index of this joint axis
     /// \return SDF element pointer with updated joint values.
     public: sdf::ElementPtr ToElement(unsigned int _index = 0u) const;

include/sdf/Lidar.hh

@@ -234,6 +234,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// lidar.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated sensor values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Light.hh

@@ -278,6 +278,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// light object.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated light values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Link.hh

@@ -364,6 +364,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// link.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated link values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Magnetometer.hh

@@ -87,6 +87,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// magnetometer.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated sensor values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Material.hh

@@ -195,6 +195,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// material.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated material values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Mesh.hh

@@ -99,6 +99,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// mesh.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated mesh values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Model.hh

@@ -418,6 +418,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// model.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \param[in] _useIncludeTag When true, the model's URI is used to create
     /// an SDF `<include>` rather than a `<model>`. The model's URI must be
     /// first set using the `Model::SetUri` function. If the model's URI is

include/sdf/Noise.hh

@@ -164,6 +164,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// noise.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated noise values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/ParticleEmitter.hh

@@ -318,6 +318,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// particle emitter.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated particle emitter values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Physics.hh

@@ -116,6 +116,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// physics.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated physics values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Plane.hh

@@ -82,6 +82,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// plane.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated plane values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Plugin.hh

@@ -110,6 +110,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// plugin.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated plugin values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Root.hh

@@ -142,16 +142,31 @@ namespace sdf
     /// \return A pointer to the model, nullptr if it doesn't exist
     public: const sdf::Model *Model() const;
 
+    /// \brief Set the model object. This will override any existing model,
+    /// actor, and light object.
+    /// \param[in] _model The model to use.
+    public: void SetModel(const sdf::Model &_model);
+
     /// \brief Get a pointer to the light object if it exists.
     ///
     /// \return A pointer to the light, nullptr if it doesn't exist
     public: const sdf::Light *Light() const;
 
+    /// \brief Set the light object. This will override any existing model,
+    /// actor, and light object.
+    /// \param[in] _light The light to use.
+    public: void SetLight(const sdf::Light &_light);
+
     /// \brief Get a pointer to the actor object if it exists.
     ///
     /// \return A pointer to the actor, nullptr if it doesn't exist
     public: const sdf::Actor *Actor() const;
 
+    /// \brief Set the actor object. This will override any existing model,
+    /// actor, and light object.
+    /// \param[in] _actor The actor to use.
+    public: void SetActor(const sdf::Actor &_actor);
+
     /// \brief Get a pointer to the SDF element that was generated during
     /// load.
     /// \return SDF element pointer. The value will be nullptr if Load has
@@ -183,6 +198,15 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors UpdateGraphs();
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// root.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[in] _useIncludeTag This will pass the _useIncludeTag to
+    /// sdf::Model::ToElement.
+    /// \return SDF element pointer with updated root values.
+    public: sdf::ElementPtr ToElement(bool _useIncludeTag = true) const;
+
     /// \brief Private data pointer
     IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr)
   };

include/sdf/Scene.hh

@@ -99,6 +99,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// scene.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated scene values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Sensor.hh

@@ -209,6 +209,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// sensor.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated sensor values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Sky.hh

@@ -115,6 +115,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// sky.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated sky values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Sphere.hh

@@ -67,6 +67,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// sphere.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated sphere values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Surface.hh

@@ -89,6 +89,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// surface.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated surface values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/Visual.hh

@@ -163,6 +163,8 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// visual.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
     /// \return SDF element pointer with updated visual values.
     public: sdf::ElementPtr ToElement() const;
 

include/sdf/World.hh

@@ -429,8 +429,12 @@ namespace sdf
 
     /// \brief Create and return an SDF element filled with data from this
     /// world.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[in] _useIncludeTag This parameter is passed through to the
+    /// Model::ToElement function.
     /// \return SDF element pointer with updated world values.
-    public: sdf::ElementPtr ToElement() const;
+    public: sdf::ElementPtr ToElement(bool _useIncludeTag = true) const;
 
     /// \brief Get the plugins attached to this object.
     /// \return A vector of Plugin, which will be empty if there are no