Add Sky DOM (#397)

* add sky dom

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* feedback changes

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* move sdf element check

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

Co-authored-by: Louise Poubel <louise@openrobotics.org>

include/sdf/CMakeLists.txt

@@ -40,6 +40,7 @@ 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

@@ -53,6 +53,7 @@ set (sources
   SDFExtension.cc
   SemanticPose.cc
   Sensor.cc
+  Sky.cc
   Sphere.cc
   Surface.cc
   Types.cc
@@ -118,6 +119,7 @@ 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());
 }