Aded ToElement conversion for shapes

include/sdf/Box.hh

@@ -65,6 +65,11 @@ namespace sdf
     /// \return A reference to an ignition::math::Boxd object.
     public: ignition::math::Boxd &Shape();
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// box.
+    /// \return SDF element pointer with updated box values.
+    public: sdf::ElementPtr ToElement() const;
+
     /// \brief Private data pointer.
     IGN_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Capsule.hh

@@ -72,6 +72,11 @@ namespace sdf
     /// \return A reference to an ignition::math::Capsuled object.
     public: ignition::math::Capsuled &Shape();
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// capsule.
+    /// \return SDF element pointer with updated capsule values.
+    public: sdf::ElementPtr ToElement() const;
+
     /// \brief Private data pointer.
     IGN_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Cylinder.hh

@@ -72,6 +72,11 @@ namespace sdf
     /// \return A reference to an ignition::math::Cylinderd object.
     public: ignition::math::Cylinderd &Shape();
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// cylinder.
+    /// \return SDF element pointer with updated cylinder values.
+    public: sdf::ElementPtr ToElement() const;
+
     /// \brief Private data pointer.
     IGN_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Ellipsoid.hh

@@ -64,6 +64,11 @@ namespace sdf
     /// \return A reference to an ignition::math::Ellipsoidd object.
     public: ignition::math::Ellipsoidd &Shape();
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// ellipsoid.
+    /// \return SDF element pointer with updated ellipsoid values.
+    public: sdf::ElementPtr ToElement() const;
+
     /// \brief Private data pointer.
     IGN_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Heightmap.hh

@@ -47,8 +47,8 @@ namespace sdf
     public: double Size() const;
 
     /// \brief Set the size of the texture in meters.
-    /// \param[in] _uri The size of the texture in meters.
-    public: void SetSize(double _uri);
+    /// \param[in] _size The size of the texture in meters.
+    public: void SetSize(double _size);
 
     /// \brief Get the heightmap texture's diffuse map.
     /// \return The diffuse map of the heightmap texture.
@@ -214,6 +214,11 @@ namespace sdf
     /// not been called.
     public: sdf::ElementPtr Element() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// heightmap.
+    /// \return SDF element pointer with updated heightmap values.
+    public: sdf::ElementPtr ToElement() const;
+
     /// \brief Private data pointer.
     IGN_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Mesh.hh

@@ -97,6 +97,11 @@ namespace sdf
     /// not been called.
     public: sdf::ElementPtr Element() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// mesh.
+    /// \return SDF element pointer with updated mesh values.
+    public: sdf::ElementPtr ToElement() const;
+
     /// \brief Private data pointer.
     IGN_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Plane.hh

@@ -80,6 +80,11 @@ namespace sdf
     /// \return A reference to an ignition::math::Planed object.
     public: ignition::math::Planed &Shape();
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// plane.
+    /// \return SDF element pointer with updated plane values.
+    public: sdf::ElementPtr ToElement() const;
+
     /// \brief Private data pointer.
     IGN_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Sphere.hh

@@ -65,6 +65,11 @@ namespace sdf
     /// not been called.
     public: sdf::ElementPtr Element() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// sphere.
+    /// \return SDF element pointer with updated sphere values.
+    public: sdf::ElementPtr ToElement() const;
+
     /// \brief Private data pointer.
     IGN_UTILS_IMPL_PTR(dataPtr)
   };

src/Box.cc

@@ -16,6 +16,7 @@
 */
 #include <ignition/math/Vector3.hh>
 #include "sdf/Box.hh"
+#include "sdf/parser.hh"
 
 using namespace sdf;
 
@@ -112,3 +113,15 @@ ignition::math::Boxd &Box::Shape()
 {
   return this->dataPtr->box;
 }
+
+/////////////////////////////////////////////////
+sdf::ElementPtr Box::ToElement() const
+{
+  sdf::ElementPtr elem(new sdf::Element);
+  sdf::initFile("box_shape.sdf", elem);
+
+  sdf::ElementPtr sizeElem = elem->GetElement("size");
+  sizeElem->Set(this->Size());
+
+  return elem;
+}

src/Box_TEST.cc

@@ -143,3 +143,19 @@ TEST(DOMBox, Shape)
   box.Shape().SetSize(ignition::math::Vector3d(1, 2, 3));
   EXPECT_EQ(ignition::math::Vector3d(1, 2, 3), box.Size());
 }
+
+/////////////////////////////////////////////////
+TEST(DOMBox, ToElement)
+{
+  sdf::Box box;
+
+  box.SetSize(ignition::math::Vector3d(1, 2, 3));
+
+  sdf::ElementPtr elem = box.ToElement();
+  ASSERT_NE(nullptr, elem);
+
+  sdf::Box box2;
+  box2.Load(elem);
+
+  EXPECT_EQ(box.Size(), box2.Size());
+}

src/Capsule.cc

@@ -16,6 +16,7 @@
 */
 #include <sstream>
 #include "sdf/Capsule.hh"
+#include "sdf/parser.hh"
 
 using namespace sdf;
 
@@ -134,3 +135,18 @@ ignition::math::Capsuled &Capsule::Shape()
 {
   return this->dataPtr->capsule;
 }
+
+/////////////////////////////////////////////////
+sdf::ElementPtr Capsule::ToElement() const
+{
+  sdf::ElementPtr elem(new sdf::Element);
+  sdf::initFile("capsule_shape.sdf", elem);
+
+  sdf::ElementPtr radiusElem = elem->GetElement("radius");
+  radiusElem->Set(this->Radius());
+
+  sdf::ElementPtr lengthElem = elem->GetElement("length");
+  lengthElem->Set(this->Length());
+
+  return elem;
+}

src/Capsule_TEST.cc

@@ -179,3 +179,21 @@ TEST(DOMCapsule, Shape)
   EXPECT_DOUBLE_EQ(0.123, capsule.Radius());
   EXPECT_DOUBLE_EQ(0.456, capsule.Length());
 }
+
+/////////////////////////////////////////////////
+TEST(DOMCapsule, ToElement)
+{
+  sdf::Capsule capsule;
+
+  capsule.SetRadius(1.2);
+  capsule.SetLength(0.5);
+
+  sdf::ElementPtr elem = capsule.ToElement();
+  ASSERT_NE(nullptr, elem);
+
+  sdf::Capsule capsule2;
+  capsule2.Load(elem);
+
+  EXPECT_DOUBLE_EQ(capsule.Radius(), capsule2.Radius());
+  EXPECT_DOUBLE_EQ(capsule.Length(), capsule2.Length());
+}

src/Cylinder.cc

@@ -16,6 +16,7 @@
 */
 #include <sstream>
 #include "sdf/Cylinder.hh"
+#include "sdf/parser.hh"
 
 using namespace sdf;
 
@@ -134,3 +135,18 @@ ignition::math::Cylinderd &Cylinder::Shape()
 {
   return this->dataPtr->cylinder;
 }
+
+/////////////////////////////////////////////////
+sdf::ElementPtr Cylinder::ToElement() const
+{
+  sdf::ElementPtr elem(new sdf::Element);
+  sdf::initFile("cylinder_shape.sdf", elem);
+
+  sdf::ElementPtr radiusElem = elem->GetElement("radius");
+  radiusElem->Set<double>(this->Radius());
+
+  sdf::ElementPtr lengthElem = elem->GetElement("length");
+  lengthElem->Set<double>(this->Length());
+
+  return elem;
+}

src/Cylinder_TEST.cc

@@ -175,3 +175,21 @@ TEST(DOMCylinder, Shape)
   EXPECT_DOUBLE_EQ(0.123, cylinder.Radius());
   EXPECT_DOUBLE_EQ(0.456, cylinder.Length());
 }
+
+/////////////////////////////////////////////////
+TEST(DOMCylinder, ToElement)
+{
+  sdf::Cylinder cylinder;
+
+  cylinder.SetRadius(1.2);
+  cylinder.SetLength(0.5);
+
+  sdf::ElementPtr elem = cylinder.ToElement();
+  ASSERT_NE(nullptr, elem);
+
+  sdf::Cylinder cylinder2;
+  cylinder2.Load(elem);
+
+  EXPECT_DOUBLE_EQ(cylinder.Radius(), cylinder2.Radius());
+  EXPECT_DOUBLE_EQ(cylinder.Length(), cylinder2.Length());
+}

src/Ellipsoid.cc

@@ -16,6 +16,7 @@
 */
 #include <sstream>
 #include "sdf/Ellipsoid.hh"
+#include "sdf/parser.hh"
 
 using namespace sdf;
 
@@ -113,3 +114,15 @@ ignition::math::Ellipsoidd &Ellipsoid::Shape()
 {
   return this->dataPtr->ellipsoid;
 }
+
+/////////////////////////////////////////////////
+sdf::ElementPtr Ellipsoid::ToElement() const
+{
+  sdf::ElementPtr elem(new sdf::Element);
+  sdf::initFile("ellipsoid_shape.sdf", elem);
+
+  sdf::ElementPtr radiiElem = elem->GetElement("radii");
+  radiiElem->Set(this->Radii());
+
+  return elem;
+}

src/Ellipsoid_TEST.cc

@@ -139,3 +139,19 @@ TEST(DOMEllipsoid, Shape)
   ellipsoid.Shape().SetRadii(expectedRadii);
   EXPECT_EQ(expectedRadii, ellipsoid.Radii());
 }
+
+/////////////////////////////////////////////////
+TEST(DOMEllipsoid, ToElement)
+{
+  sdf::Ellipsoid ellipsoid;
+
+  ellipsoid.SetRadii(ignition::math::Vector3d(0.1, 1.2, 3.4));
+
+  sdf::ElementPtr elem = ellipsoid.ToElement();
+  ASSERT_NE(nullptr, elem);
+
+  sdf::Ellipsoid ellipsoid2;
+  ellipsoid2.Load(elem);
+
+  EXPECT_EQ(ellipsoid.Radii(), ellipsoid2.Radii());
+}

src/Heightmap.cc

@@ -19,6 +19,7 @@
 
 #include "Utils.hh"
 #include "sdf/Heightmap.hh"
+#include "sdf/parser.hh"
 
 using namespace sdf;
 
@@ -459,3 +460,49 @@ void Heightmap::AddBlend(const HeightmapBlend &_blend)
 {
   this->dataPtr->blends.push_back(_blend);
 }
+
+/////////////////////////////////////////////////
+sdf::ElementPtr Heightmap::ToElement() const
+{
+  sdf::ElementPtr elem(new sdf::Element);
+  sdf::initFile("heightmap_shape.sdf", elem);
+
+  // Uri
+  sdf::ElementPtr uriElem = elem->GetElement("uri");
+  uriElem->Set(this->Uri());
+
+  // Size
+  sdf::ElementPtr sizeElem = elem->GetElement("size");
+  sizeElem->Set(this->Size());
+
+  // Position
+  sdf::ElementPtr posElem = elem->GetElement("pos");
+  posElem->Set(this->Position());
+
+  // Terrain paging
+  sdf::ElementPtr pagingElem = elem->GetElement("use_terrain_paging");
+  pagingElem->Set(this->UseTerrainPaging());
+
+  // Sampling
+  sdf::ElementPtr samplingElem = elem->GetElement("sampling");
+  samplingElem->Set(this->Sampling());
+
+  // Textures
+  for (const HeightmapTexture &tex : this->dataPtr->textures)
+  {
+    sdf::ElementPtr texElem = elem->AddElement("texture");
+    texElem->GetElement("size")->Set(tex.Size());
+    texElem->GetElement("diffuse")->Set(tex.Diffuse());
+    texElem->GetElement("normal")->Set(tex.Normal());
+  }
+
+  // Blends
+  for (const HeightmapBlend &blend : this->dataPtr->blends)
+  {
+    sdf::ElementPtr blendElem = elem->AddElement("blend");
+    blendElem->GetElement("min_height")->Set(blend.MinHeight());
+    blendElem->GetElement("fade_dist")->Set(blend.FadeDistance());
+  }
+
+  return elem;
+}