Merge pull request #372 from azeey/9_to_main

Merge gz-msgs9 ➡️  main

.github/workflows/triage.yml

@@ -10,10 +10,8 @@ jobs:
  runs-on: ubuntu-latest
  steps:
  - name: Add ticket to inbox
- uses: technote-space/create-project-card-action@v1
+ uses: actions/[email protected]
  with:
- PROJECT: Core development
- COLUMN: Inbox
- GITHUB_TOKEN: ${{ secrets.TRIAGE_TOKEN }}
- CHECK_ORG_PROJECT: true
+ project-url: https:/orgs/gazebosim/projects/7
+ github-token: ${{ secrets.TRIAGE_TOKEN }}
 

include/gz/msgs/Utility.hh

@@ -94,6 +94,14 @@ namespace gz
  math::SphericalCoordinates Convert(
  const msgs::SphericalCoordinates &_coord);
 
+ /// \brief Convert a msgs::SphericalCoordinatesType to an
+ /// gz::math::SphericalCoordinates::CoordinateTpye
+ /// \param[in] _sc The spherical coordinate type to convert
+ /// \return A gz::math::SphericalCoordinatesType object
+ GZ_MSGS_VISIBLE
+ math::SphericalCoordinates::CoordinateType Convert(
+ const msgs::SphericalCoordinatesType &_sc);
+
  /// \brief Convert a msgs::AxisAlignedBox to an
  /// gz::math::AxisAlignedBox
  /// \param[in] _b The axis aligned box to convert
@@ -212,6 +220,14 @@ namespace gz
  msgs::SphericalCoordinates Convert(
  const math::SphericalCoordinates &_coord);
 
+ /// \brief Convert a gz::math::SphericalCoordinates::CoordinateType
+ /// to a msgs::SphericalCoordinatesType
+ /// \param[in] _coord The spherical coordinates type to convert
+ /// \return A gz::msgs::SphericalCoordinatesType object
+ GZ_MSGS_VISIBLE
+ msgs::SphericalCoordinatesType ConvertCoord(
+ const math::SphericalCoordinates::CoordinateType &_coord);
+
  /// \brief Convert a gz::math::Planed to a msgs::PlaneGeom
  /// \param[in] _p The plane to convert
  /// \return A msgs::PlaneGeom object

proto/gz/msgs/data_load_options.proto

@@ -0,0 +1,58 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * 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.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "DataLoadPathOptions";
+
+import "gz/msgs/spherical_coordinates.proto";
+
+/// \brief Used for specifying how to load environmental data
+message DataLoadPathOptions
+{
+ /// \brief Units used by spherical coordinates
+ enum DataAngularUnits
+ {
+ RADIANS = 0;
+ DEGREES = 1;
+ }
+
+ /// \brief File path to load
+ string path = 1;
+
+ /// \brief Name of time axis
+ string time = 2;
+
+ /// \brief Is the data static in time
+ bool static_time = 3;
+
+ /// \brief Name of x axis
+ string x = 4;
+
+ /// \brief Name of y axis
+ string y = 5;
+
+ /// \brief Name of z axis
+ string z = 6;
+
+ /// Units
+ DataAngularUnits units = 7;
+
+ /// Spherical Coodinate type
+ gz.msgs.SphericalCoordinatesType coordinate_type = 8;
+}

proto/gz/msgs/spherical_coordinates.proto

@@ -27,6 +27,26 @@ option java_outer_classname = "SphericalCoordinatesProtos";
 import "gz/msgs/entity.proto";
 import "gz/msgs/header.proto";
 
+enum SphericalCoordinatesType
+{
+ /// \brief Latitude, Longitude and Altitude by SurfaceType
+ SPHERICAL = 0;
+
+ /// \brief Earth centered, earth fixed Cartesian
+ ECEF = 1;
+
+ /// \brief Local tangent plane (East, North, Up)
+ GLOBAL = 2;
+
+ /// \brief Heading-adjusted tangent plane (X, Y, Z)
+ /// This has kept a bug for backwards compatibility, use
+ /// LOCAL2 for the correct behaviour.
+ LOCAL = 3;
+
+ /// \brief Heading-adjusted tangent plane (X, Y, Z)
+ LOCAL2 = 4;
+}
+
 message SphericalCoordinates
 {
  /// \brief Planetary surface models.

src/Utility.cc

@@ -176,6 +176,28 @@ namespace gz
  return out;
  }
 
+ /////////////////////////////////////////////
+ math::SphericalCoordinates::CoordinateType Convert(
+ const msgs::SphericalCoordinatesType &_sc)
+ {
+ switch (_sc)
+ {
+ case msgs::SphericalCoordinatesType::ECEF:
+ return math::SphericalCoordinates::CoordinateType::ECEF;
+ case msgs::SphericalCoordinatesType::GLOBAL:
+ return math::SphericalCoordinates::CoordinateType::GLOBAL;
+ case msgs::SphericalCoordinatesType::SPHERICAL:
+ return math::SphericalCoordinates::CoordinateType::SPHERICAL;
+ case msgs::SphericalCoordinatesType::LOCAL:
+ return math::SphericalCoordinates::CoordinateType::LOCAL;
+ case msgs::SphericalCoordinatesType::LOCAL2:
+ return math::SphericalCoordinates::CoordinateType::LOCAL2;
+ default:
+ std::cerr << "Invalid coordinate type passed" << std::endl;
+ }
+ return math::SphericalCoordinates::CoordinateType::LOCAL2;
+ }
+
  /////////////////////////////////////////////
  math::AxisAlignedBox Convert(const msgs::AxisAlignedBox &_b)
  {
@@ -342,6 +364,34 @@ namespace gz
  return result;
  }
 
+ /////////////////////////////////////////////
+ msgs::SphericalCoordinatesType ConvertCoord(
+ const math::SphericalCoordinates::CoordinateType &_sc)
+ {
+ auto result = msgs::SphericalCoordinatesType::LOCAL2;
+ switch (_sc)
+ {
+ case math::SphericalCoordinates::CoordinateType::ECEF:
+ result = msgs::SphericalCoordinatesType::ECEF;
+ break;
+ case math::SphericalCoordinates::CoordinateType::GLOBAL:
+ result = msgs::SphericalCoordinatesType::GLOBAL;
+ break;
+ case math::SphericalCoordinates::CoordinateType::SPHERICAL:
+ result = msgs::SphericalCoordinatesType::SPHERICAL;
+ break;
+ case math::SphericalCoordinates::CoordinateType::LOCAL:
+ result = msgs::SphericalCoordinatesType::LOCAL;
+ break;
+ case math::SphericalCoordinates::CoordinateType::LOCAL2:
+ result = msgs::SphericalCoordinatesType::LOCAL2;
+ break;
+ default:
+ std::cerr << "Invalid coordinate type passed" << std::endl;
+ }
+ return result;
+ }
+
  /////////////////////////////////////////////
  msgs::PlaneGeom Convert(const gz::math::Planed &_p)
  {

src/Utility_TEST.cc

@@ -398,6 +398,46 @@ TEST(MsgsTest, ConvertMathSphericalCoordinatesToMsgs)
  EXPECT_DOUBLE_EQ(10000, mathCustom.SurfaceAxisPolar());
 }
 
+/////////////////////////////////////////////////
+TEST(MsgsTest, ConvertMsgsSphericalCoordinatesTypeToMath)
+{
+ EXPECT_EQ(Convert(msgs::SphericalCoordinatesType::ECEF),
+ math::SphericalCoordinates::CoordinateType::ECEF);
+ EXPECT_EQ(Convert(msgs::SphericalCoordinatesType::GLOBAL),
+ math::SphericalCoordinates::CoordinateType::GLOBAL);
+ EXPECT_EQ(Convert(msgs::SphericalCoordinatesType::SPHERICAL),
+ math::SphericalCoordinates::CoordinateType::SPHERICAL);
+ EXPECT_EQ(Convert(msgs::SphericalCoordinatesType::LOCAL),
+ math::SphericalCoordinates::CoordinateType::LOCAL);
+ EXPECT_EQ(Convert(msgs::SphericalCoordinatesType::LOCAL2),
+ math::SphericalCoordinates::CoordinateType::LOCAL2);
+ EXPECT_EQ(Convert((msgs::SphericalCoordinatesType)500000),
+ math::SphericalCoordinates::CoordinateType::LOCAL2);
+}
+
+/////////////////////////////////////////////////
+TEST(MsgsTest, ConvertMathSphericalCoordinatedTypeToMsg)
+{
+ EXPECT_EQ(msgs::ConvertCoord(
+ math::SphericalCoordinates::CoordinateType::ECEF),
+ msgs::SphericalCoordinatesType::ECEF);
+ EXPECT_EQ(msgs::ConvertCoord(
+ math::SphericalCoordinates::CoordinateType::GLOBAL),
+ msgs::SphericalCoordinatesType::GLOBAL);
+ EXPECT_EQ(msgs::ConvertCoord(
+ math::SphericalCoordinates::CoordinateType::SPHERICAL),
+ msgs::SphericalCoordinatesType::SPHERICAL);
+ EXPECT_EQ(msgs::ConvertCoord(
+ math::SphericalCoordinates::CoordinateType::LOCAL),
+ msgs::SphericalCoordinatesType::LOCAL);
+ EXPECT_EQ(msgs::ConvertCoord(
+ math::SphericalCoordinates::CoordinateType::LOCAL2),
+ msgs::SphericalCoordinatesType::LOCAL2);
+ EXPECT_EQ(msgs::ConvertCoord(
+ (math::SphericalCoordinates::CoordinateType)500000),
+ msgs::SphericalCoordinatesType::LOCAL2);
+}
+
 /////////////////////////////////////////////////
 TEST(UtilityTest, ConvertStringMsg)
 {

tools/gz_msgs_generate.bzl

@@ -90,7 +90,6 @@ _gz_msgs_generate_gen = rule(
  cfg = "host",
  ),
  },
- output_to_genfiles = True,
  implementation = _gz_msgs_generate_impl,
 )