ScenarI/O: SCENe interfAces for Robot Input / Output - New Ignition Gazebo ECM APIs

CMakeLists.txt

@@ -119,6 +119,7 @@ option(GYMIGNITION_USE_IGNITION
 add_subdirectory(cpp/gympp/base)
 add_subdirectory(cpp/gympp/gazebo)
 add_subdirectory(cpp/gympp/plugins)
+add_subdirectory(cpp/scenario/gazebo)
 
 # Add the targets depending on Ignition Robotics
 if(${GYMIGNITION_USE_IGNITION})

bindings/CMakeLists.txt

@@ -42,6 +42,7 @@ target_link_libraries(${swig_name} PUBLIC
     GazeboEnvironment
     RobotSingleton
     GazeboWrapper
+    ScenarioGazebo
     ${PYTHON_LIBRARIES})
 
 set_property(TARGET ${swig_name} PROPERTY

bindings/gympp_bindings.i

@@ -11,6 +11,10 @@
 #include "gympp/gazebo/GymFactory.h"
 #include "gympp/gazebo/Metadata.h"
 #include "gympp/gazebo/RobotSingleton.h"
+#include "scenario/gazebo/Joint.h"
+#include "scenario/gazebo/Link.h"
+#include "scenario/gazebo/Model.h"
+#include "scenario/gazebo/World.h"
 #include <cstdint>
 %}
 
@@ -105,3 +109,13 @@
 %include "gympp/gazebo/Metadata.h"
 %include "gympp/gazebo/GymFactory.h"
 %include "gympp/gazebo/RobotSingleton.h"
+
+%shared_ptr(scenario::gazebo::Joint)
+%shared_ptr(scenario::gazebo::Link)
+%shared_ptr(scenario::gazebo::Model)
+%shared_ptr(scenario::gazebo::World)
+
+%include "scenario/gazebo/Joint.h"
+%include "scenario/gazebo/Link.h"
+%include "scenario/gazebo/Model.h"
+%include "scenario/gazebo/World.h"

cpp/gympp/gazebo/IgnitionRobot.cpp

@@ -9,9 +9,9 @@
 #include "gympp/gazebo/IgnitionRobot.h"
 #include "gympp/base/Log.h"
 #include "gympp/gazebo/RobotSingleton.h"
-#include "gympp/gazebo/components/JointPositionReset.h"
-#include "gympp/gazebo/components/JointVelocityReset.h"
-#include "gympp/gazebo/components/WorldVelocityCmd.h"
+#include "scenario/gazebo/components/JointPositionReset.h"
+#include "scenario/gazebo/components/JointVelocityReset.h"
+#include "scenario/gazebo/components/WorldVelocityCmd.h"
 
 #include <eigen3/Eigen/Dense>
 #include <ignition/gazebo/Model.hh>

cpp/scenario/gazebo/CMakeLists.txt

@@ -0,0 +1,116 @@
+# Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+#  This project is dual licensed under LGPL v2.1+ or Apache License.
+#
+# -   -   -   -   -   -   -   -   -   -   -   -   -   -   -   -   -   -
+#
+#  This software may be modified and distributed under the terms of the
+#  GNU Lesser General Public License v2.1 or any later version.
+#
+# -   -   -   -   -   -   -   -   -   -   -   -   -   -   -   -   -   -
+#
+#  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.
+
+# ================
+# Extra Components
+# ================
+
+set(EXTRA_COMPONENTS_HDRS
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/JointPID.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/SimulatedTime.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/BasePoseTarget.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/BaseWorldVelocityTarget.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/BaseWorldAccelerationTarget.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/MaxJointForce.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/JointControlMode.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/WorldVelocityCmd.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/JointPositionReset.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/JointVelocityReset.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/JointPositionTarget.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/JointVelocityTarget.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/JointAccelerationTarget.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/HistoryOfAppliedJointForces.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/ExternalWorldWrenchCmdWithDuration.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/Timestamp.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/include/scenario/gazebo/components/JointControllerPeriod.h)
+
+add_library(ExtraComponents INTERFACE)
+target_sources(ExtraComponents INTERFACE ${EXTRA_COMPONENTS_HDRS})
+
+target_include_directories(ExtraComponents INTERFACE
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+
+target_link_libraries(ExtraComponents INTERFACE ignition-gazebo3::core)
+
+set_target_properties(ExtraComponents PROPERTIES
+    PUBLIC_HEADER "${EXTRA_COMPONENTS_HDRS}")
+
+# ==============
+# ScenarioGazebo
+# ==============
+
+set(SCENARIO_PUBLIC_HDRS
+    include/scenario/gazebo/World.h
+    include/scenario/gazebo/Model.h
+    include/scenario/gazebo/Joint.h
+    include/scenario/gazebo/Link.h
+    include/scenario/gazebo/Log.h
+    include/scenario/gazebo/utils.h
+    include/scenario/gazebo/exceptions.h)
+
+add_library(ScenarioGazebo
+    ${SCENARIO_PUBLIC_HDRS}
+    include/scenario/gazebo/helpers.h
+    src/World.cpp
+    src/Model.cpp
+    src/Joint.cpp
+    src/Link.cpp
+    src/utils.cpp
+    src/helpers.cpp)
+
+target_include_directories(ScenarioGazebo PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+
+target_link_libraries(ScenarioGazebo
+    PRIVATE
+    ExtraComponents
+    ignition-gazebo3::core)
+
+set_target_properties(ScenarioGazebo PROPERTIES
+    PUBLIC_HEADER "${SCENARIO_PUBLIC_HDRS}")
+
+# ===================
+# Install the targets
+# ===================
+
+if(NOT CMAKE_BUILD_TYPE STREQUAL "PyPI")
+    install(
+        TARGETS
+        ExtraComponents
+        EXPORT scenario
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/scenario/gazebo/components)
+    install(
+        TARGETS
+        ScenarioGazebo
+        EXPORT scenario
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/scenario/gazebo)
+endif()