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Move and update Ignition plugins to work with ScenarI/O #161

Merged
merged 14 commits into from
Mar 31, 2020
Merged

Move and update Ignition plugins to work with ScenarI/O #161

merged 14 commits into from
Mar 31, 2020

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diegoferigo
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@diegoferigo diegoferigo commented Mar 20, 2020 •
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This PR:

  • Moves the Ignition plugins to the cpp folder
  • Removes old synchronization logic from the ECM provider
  • Updates the Physics system to allow loading its plugin during runtime (after the Server creation, i.e. it enables not including the plugin in the world file)
  • Allows updating the physics system (not stepping) also with paused simulation steps
  • Implements features for ScenarI/O (apply link wrenches for multiple steps, extract simulated time, store history of applied joint forces)

@diegoferigo diegoferigo added this to the Iteration 7 milestone Mar 20, 2020
@diegoferigo diegoferigo self-assigned this Mar 20, 2020
@diegoferigo diegoferigo force-pushed the refactor/move_plugins branch from 99fcbc0 to 4b50f60 Compare March 20, 2020 08:25
@diegoferigo
Move gazebo plugins to the scenario folder
8989e83
@diegoferigo
Update world files after changing plugins namespace
ca279b6
@diegoferigo
Include explicitly ECMSingleton in the bindings
ed37d5b
@diegoferigo
Remove synchronization logic from ECMProvider
d29e715 
Substituted by a mutex stored in a ECM component
@diegoferigo
Allow Physics system to be inserted during runtime
6b80960 
In this case, existing entities of the world could not be marked as New in the ECM.
@diegoferigo
Update Physics state even when paused
e95eb08
@diegoferigo
Store the simulated time from the Physics system
e91df1b
@diegoferigo
Pass UpdateInfo to UpdatePhysics and UpdateSim
72087e7
@diegoferigo
Store the history of applied wrenches
4d4967e
@diegoferigo
Apply Link wrenches for the given duration
0d988b8
@diegoferigo
Remove unused visual feature from Physics system
75fca9f
@diegoferigo
Remove gympp from Scenario Gazebo plugins
4481560
@diegoferigo
Simplify ECMSingleton and ECMProvider
14a13a4 
- The ECM pointer is the same even if multiple worlds are part of the simulation
- Removed old synchronization logic
@diegoferigo
Rename method in ECMSingleton
ecea35a
@diegoferigo diegoferigo force-pushed the refactor/move_plugins branch from 4b50f60 to ecea35a Compare March 29, 2020 12:17
@diegoferigo diegoferigo marked this pull request as ready for review March 29, 2020 12:19
@diegoferigo diegoferigo mentioned this pull request Mar 29, 2020
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@diegoferigo diegoferigo merged commit bf8b6f3 into robotology-legacy:refactoring Mar 31, 2020
@diegoferigo diegoferigo deleted the refactor/move_plugins branch March 31, 2020 08:45
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Reviewers

@traversaro traversaro traversaro approved these changes

@raffaello-camoriano raffaello-camoriano Awaiting requested review from raffaello-camoriano

@paolo-viceconte paolo-viceconte Awaiting requested review from paolo-viceconte

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@diegoferigo diegoferigo

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@diegoferigo @traversaro