Merge remote-tracking branch 'origin/sdf12' into ahcorde/usd_to_sdf_cmd

.github/ci/before_cmake.sh

@@ -7,12 +7,17 @@ BUILD_DIR=`pwd`
 cd /tmp
 
 # check that we can compile USD from sources (only Focal)
+# see https://github.com/ignitionrobotics/sdformat/issues/869
+return_code=0
+if [ "$(lsb_release -r -s)" != "20.04" ]; then
+  return_code=$(($return_code + 1))
+fi
+
 mkdir cmake_test
 cd cmake_test
 
 echo "cmake_minimum_required(VERSION 3.12)" > CMakeLists.txt
 
-return_code=0
 cmake . || return_code=$(($return_code + $?))
 if [ $return_code -eq 0 ]
 then

.github/workflows/ci.yml

@@ -28,3 +28,12 @@ jobs:
         uses: ignition-tooling/action-ignition-ci@focal
         with:
           codecov-enabled: true
+  jammy-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Jammy CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@jammy

include/sdf/Actor.hh

@@ -27,6 +27,7 @@
 #include "sdf/Types.hh"
 #include "sdf/Link.hh"
 #include "sdf/Joint.hh"
+#include "sdf/Plugin.hh"
 #include "sdf/sdf_config.h"
 #include "sdf/system_util.hh"
 
@@ -380,9 +381,28 @@ 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;
 
+    /// \brief Get the plugins attached to this object.
+    /// \return A vector of Plugin, which will be empty if there are no
+    /// plugins.
+    public: const sdf::Plugins &Plugins() const;
+
+    /// \brief Get a mutable vector of plugins attached to this object.
+    /// \return A vector of Plugin, which will be empty if there are no
+    /// plugins.
+    public: sdf::Plugins &Plugins();
+
+    /// \brief Remove all plugins
+    public: void ClearPlugins();
+
+    /// \brief Add a plugin to this object.
+    /// \param[in] _plugin Plugin to add.
+    public: void AddPlugin(const Plugin &_plugin);
+
     /// \brief Private data pointer.
     IGN_UTILS_IMPL_PTR(dataPtr)
   };

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;
 
@@ -81,10 +83,20 @@ namespace sdf
     /// \brief Remove all plugins
     public: void ClearPlugins();
 
-    /// \brief Add a plugin to the link.
+    /// \brief Add a plugin to this object.
     /// \param[in] _plugin Plugin to add.
     public: void AddPlugin(const Plugin &_plugin);
 
+    /// \brief Get the plugins attached to this object.
+    /// \return A vector of Plugin, which will be empty if there are no
+    /// plugins.
+    public: const sdf::Plugins &Plugins() const;
+
+    /// \brief Get a mutable vector of plugins attached to this object.
+    /// \return A vector of Plugin, which will be empty if there are no
+    /// plugins.
+    public: sdf::Plugins &Plugins();
+
     /// \brief Private data pointer.
     IGN_UTILS_IMPL_PTR(dataPtr)
   };

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

@@ -24,6 +24,7 @@
 #include <ignition/math/Pose3.hh>
 #include <ignition/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
+#include "sdf/Plugin.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
@@ -417,6 +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
@@ -484,6 +487,23 @@ namespace sdf
     /// \param[in] _uri The model's URI.
     public: void SetUri(const std::string &_uri);
 
+    /// \brief Get the plugins attached to this object.
+    /// \return A vector of Plugin, which will be empty if there are no
+    /// plugins.
+    public: const sdf::Plugins &Plugins() const;
+
+    /// \brief Get a mutable vector of plugins attached to this object.
+    /// \return A vector of Plugin, which will be empty if there are no
+    /// plugins.
+    public: sdf::Plugins &Plugins();
+
+    /// \brief Remove all plugins
+    public: void ClearPlugins();
+
+    /// \brief Add a plugin to this object.
+    /// \param[in] _plugin Plugin to add.
+    public: void AddPlugin(const Plugin &_plugin);
+
     /// \brief Give the scoped PoseRelativeToGraph to be used for resolving
     /// poses. This is private and is intended to be called by Root::Load or
     /// World::SetPoseRelativeToGraph if this is a standalone model and

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;