Merge branch 'sdf10' into double_sided_material

include/sdf/CMakeLists.txt

@@ -39,6 +39,7 @@ set (headers
  SDFImpl.hh
  SemanticPose.hh
  Sensor.hh
+ Sky.hh
  Sphere.hh
  Surface.hh
  Types.hh

include/sdf/Scene.hh

@@ -20,6 +20,7 @@
 #include <ignition/math/Color.hh>
 
 #include "sdf/Element.hh"
+#include "sdf/Sky.hh"
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
 #include "sdf/system_util.hh"
@@ -107,6 +108,14 @@ namespace sdf
  /// \param[in] enabled True to enable shadows
  public: void SetShadows(const bool _shadows);
 
+ /// \brief Set sky
+ /// \param[in] _sky Sky to set to
+ public: void SetSky(const Sky &_sky);
+
+ /// \brief Get sky
+ /// \return Sky
+ public: const sdf::Sky *Sky() const;
+
  /// \brief Get a pointer to the SDF element that was used during
  /// load.
  /// \return SDF element pointer. The value will be nullptr if Load has

include/sdf/Sky.hh

@@ -0,0 +1,146 @@
+/*
+ * Copyright 2020 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.
+ *
+ */
+
+#ifndef SDF_SKY_HH_
+#define SDF_SKY_HH_
+
+#include <ignition/math/Color.hh>
+
+#include "sdf/Element.hh"
+#include "sdf/Types.hh"
+#include "sdf/sdf_config.h"
+#include "sdf/system_util.hh"
+
+namespace sdf
+{
+ // Inline bracket to help doxygen filtering.
+ inline namespace SDF_VERSION_NAMESPACE {
+ //
+
+ // Forward declarations.
+ class SkyPrivate;
+
+ class SDFORMAT_VISIBLE Sky
+ {
+ /// \brief Default constructor
+ public: Sky();
+
+ /// \brief Copy constructor
+ /// \param[in] _sky Sky element to copy.
+ public: Sky(const Sky &_sky);
+
+ /// \brief Move constructor
+ /// \param[in] _sky Sky to move.
+ public: Sky(Sky &&_sky) noexcept;
+
+ /// \brief Destructor
+ public: ~Sky();
+
+ /// \brief Assignment operator.
+ /// \param[in] _sky The sky to set values from.
+ /// \return *this
+ public: Sky &operator=(const Sky &_sky);
+
+ /// \brief Move assignment operator.
+ /// \param[in] _workflow The sky to move from.
+ /// \return *this
+ public: Sky &operator=(Sky &&_sky);
+
+ /// \brief Get time of day [0..24]
+ /// \return Time of day
+ public: double Time() const;
+
+ /// \brief Set time of day
+ /// \param[in] _time Time of day [0..24]
+ public: void SetTime(double _time);
+
+ /// \brief Get sunrise time
+ /// \return sunrise time [0..24]
+ public: double Sunrise() const;
+
+ /// \brief Set Sunrise time
+ /// \param[in] _time Sunrise time [0..24]
+ public: void SetSunrise(double _time);
+
+ /// \brief Get sunset time
+ /// \return sunset time [0..24]
+ public: double Sunset() const;
+
+ /// \brief Set Sunset time
+ /// \param[in] _time Sunset time [0..24]
+ public: void SetSunset(double _time);
+
+ /// \brief Get cloud speed
+ /// \return cloud speed in meters per second
+ public: double CloudSpeed() const;
+
+ /// \brief Set cloud speed
+ /// \param[in] _speed cloud speed in meters per second.
+ public: void SetCloudSpeed(double _speed);
+
+ /// \brief Get cloud direction angle (angle around up axis)
+ /// \return cloud direction angle in world frame
+ public: ignition::math::Angle CloudDirection() const;
+
+ /// \brief Set cloud direction angle (angle around up axis)
+ /// \param[in] _angle Cloud direction angle in world frame.
+ public: void SetCloudDirection(const ignition::math::Angle &_angle);
+
+ /// \brief Get cloud humidity
+ /// \return cloud humidity [0..1]
+ public: double CloudHumidity() const;
+
+ /// \brief Set cloud humidity
+ /// \param[in] _humidity cloud humidity [0..1]
+ public: void SetCloudHumidity(double _humidity);
+
+ /// \brief Get cloud mean size
+ /// \return cloud mean size [0..1]
+ public: double CloudMeanSize() const;
+
+ /// \brief Set cloud mean siz
+ /// \param[in] _size cloud mean size [0..1]
+ public: void SetCloudMeanSize(double _size);
+
+ /// \brief Get cloud ambient color
+ /// \return cloud ambient color
+ public: ignition::math::Color CloudAmbient() const;
+
+ /// \brief Set cloud ambient color
+ /// \param[in] _ambient cloud ambient color
+ public: void SetCloudAmbient(const ignition::math::Color &_ambient);
+
+ /// \brief Load the sky based on a element pointer. This is *not* the
+ /// usual entry point. Typical usage of the SDF DOM is through the Root
+ /// object.
+ /// \param[in] _sdf The SDF Element pointer
+ /// \return Errors, which is a vector of Error objects. Each Error includes
+ /// an error code and message. An empty vector indicates no error.
+ public: Errors Load(ElementPtr _sdf);
+
+ /// \brief Get a pointer to the SDF element that was used during
+ /// load.
+ /// \return SDF element pointer. The value will be nullptr if Load has
+ /// not been called.
+ public: sdf::ElementPtr Element() const;
+
+ /// \brief Private data pointer.
+ private: SkyPrivate *dataPtr = nullptr;
+ };
+ }
+}
+#endif

src/CMakeLists.txt

@@ -52,6 +52,7 @@ set (sources
  SDFExtension.cc
  SemanticPose.cc
  Sensor.cc
+ Sky.cc
  Sphere.cc
  Surface.cc
  Types.cc
@@ -116,6 +117,7 @@ if (BUILD_SDF_TEST)
  SemanticPose_TEST.cc
  SDF_TEST.cc
  Sensor_TEST.cc
+ Sky_TEST.cc
  Sphere_TEST.cc
  Surface_TEST.cc
  Types_TEST.cc

src/Scene.cc

@@ -22,6 +22,16 @@ using namespace sdf;
 /// \brief Scene private data.
 class sdf::ScenePrivate
 {
+ /// \brief Default constructor
+ public: ScenePrivate() = default;
+
+ /// \brief Copy constructor
+ /// \param[in] _scenePrivate private data to copy
+ public: explicit ScenePrivate(const ScenePrivate &_scenePrivate);
+
+ // Delete copy assignment so it is not accidentally used
+ public: ScenePrivate &operator=(const ScenePrivate &) = delete;
+
  /// \brief True if grid should be enabled
  public: bool grid = true;
 
@@ -39,10 +49,29 @@ class sdf::ScenePrivate
  public: ignition::math::Color background =
  ignition::math::Color(0.7f, 0.7f, .7f);
 
+ /// \brief Pointer to the sky properties.
+ public: std::unique_ptr<Sky> sky;
+
  /// \brief The SDF element pointer used during load.
  public: sdf::ElementPtr sdf;
 };
 
+/////////////////////////////////////////////////
+ScenePrivate::ScenePrivate(const ScenePrivate &_scenePrivate)
+ : grid(_scenePrivate.grid),
+ shadows(_scenePrivate.shadows),
+ originVisual(_scenePrivate.originVisual),
+ ambient(_scenePrivate.ambient),
+ background(_scenePrivate.background),
+ sdf(_scenePrivate.sdf)
+{
+ if (_scenePrivate.sky)
+ {
+ this->sky =
+ std::make_unique<Sky>(*(_scenePrivate.sky));
+ }
+}
+
 /////////////////////////////////////////////////
 Scene::Scene()
  : dataPtr(new ScenePrivate)
@@ -118,6 +147,14 @@ Errors Scene::Load(ElementPtr _sdf)
  this->dataPtr->originVisual = _sdf->Get<bool>("origin_visual",
  this->dataPtr->originVisual).first;
 
+ // load sky
+ if (_sdf->HasElement("sky"))
+ {
+ this->dataPtr->sky = std::make_unique<sdf::Sky>();
+ Errors err = this->dataPtr->sky->Load(_sdf->GetElement("sky"));
+ errors.insert(errors.end(), err.begin(), err.end());
+ }
+
  return errors;
 }
 
@@ -180,6 +217,18 @@ void Scene::SetOriginVisual(const bool _enabled)
  this->dataPtr->originVisual = _enabled;
 }
 
+/////////////////////////////////////////////////
+void Scene::SetSky(const sdf::Sky &_sky)
+{
+ this->dataPtr->sky = std::make_unique<sdf::Sky>(_sky);
+}
+
+/////////////////////////////////////////////////
+const sdf::Sky *Scene::Sky() const
+{
+ return this->dataPtr->sky.get();
+}
+
 /////////////////////////////////////////////////
 sdf::ElementPtr Scene::Element() const
 {

src/Scene_TEST.cc

@@ -27,6 +27,7 @@ TEST(DOMScene, Construction)
  EXPECT_TRUE(scene.Grid());
  EXPECT_TRUE(scene.Shadows());
  EXPECT_TRUE(scene.OriginVisual());
+ EXPECT_EQ(nullptr, scene.Sky());
 }
 
 /////////////////////////////////////////////////
@@ -41,13 +42,16 @@ TEST(DOMScene, CopyConstruction)
  scene.SetGrid(false);
  scene.SetShadows(false);
  scene.SetOriginVisual(false);
+ sdf::Sky sky;
+ scene.SetSky(sky);
 
  sdf::Scene scene2(scene);
  EXPECT_EQ(ignition::math::Color::Blue, scene2.Ambient());
  EXPECT_EQ(ignition::math::Color::Red, scene2.Background());
  EXPECT_FALSE(scene2.Grid());
  EXPECT_FALSE(scene2.Shadows());
  EXPECT_FALSE(scene2.OriginVisual());
+ EXPECT_NE(nullptr, scene2.Sky());
 
  EXPECT_NE(nullptr, scene2.Element());
  EXPECT_EQ(scene.Element(), scene2.Element());
@@ -62,13 +66,16 @@ TEST(DOMScene, MoveConstruction)
  scene.SetGrid(false);
  scene.SetShadows(false);
  scene.SetOriginVisual(false);
+ sdf::Sky sky;
+ scene.SetSky(sky);
 
  sdf::Scene scene2(std::move(scene));
  EXPECT_EQ(ignition::math::Color::Blue, scene2.Ambient());
  EXPECT_EQ(ignition::math::Color::Red, scene2.Background());
  EXPECT_FALSE(scene2.Grid());
  EXPECT_FALSE(scene2.Shadows());
  EXPECT_FALSE(scene2.OriginVisual());
+ EXPECT_NE(nullptr, scene2.Sky());
 }
 
 /////////////////////////////////////////////////
@@ -80,6 +87,8 @@ TEST(DOMScene, MoveAssignmentOperator)
  scene.SetGrid(false);
  scene.SetShadows(false);
  scene.SetOriginVisual(false);
+ sdf::Sky sky;
+ scene.SetSky(sky);
 
  sdf::Scene scene2;
  scene2 = std::move(scene);
@@ -88,6 +97,7 @@ TEST(DOMScene, MoveAssignmentOperator)
  EXPECT_FALSE(scene2.Grid());
  EXPECT_FALSE(scene2.Shadows());
  EXPECT_FALSE(scene2.OriginVisual());
+ EXPECT_NE(nullptr, scene2.Sky());
 }
 
 /////////////////////////////////////////////////
@@ -99,6 +109,8 @@ TEST(DOMScene, AssignmentOperator)
  scene.SetGrid(false);
  scene.SetShadows(false);
  scene.SetOriginVisual(false);
+ sdf::Sky sky;
+ scene.SetSky(sky);
 
  sdf::Scene scene2;
  scene2 = scene;
@@ -107,6 +119,7 @@ TEST(DOMScene, AssignmentOperator)
  EXPECT_FALSE(scene2.Grid());
  EXPECT_FALSE(scene2.Shadows());
  EXPECT_FALSE(scene2.OriginVisual());
+ EXPECT_NE(nullptr, scene2.Sky());
 }
 
 /////////////////////////////////////////////////
@@ -152,4 +165,8 @@ TEST(DOMScene, Set)
  EXPECT_TRUE(scene.OriginVisual());
  scene.SetOriginVisual(false);
  EXPECT_FALSE(scene.OriginVisual());
+
+ sdf::Sky sky;
+ scene.SetSky(sky);
+ EXPECT_NE(nullptr, scene.Sky());
 }