rename satnav to navsat, and other review commments

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>

include/sdf/CMakeLists.txt

@@ -17,7 +17,6 @@ set (headers
   Filesystem.hh
   Frame.hh
   Geometry.hh
-  SatNav.hh
   Gui.hh
   Heightmap.hh
   Imu.hh
@@ -30,6 +29,7 @@ set (headers
   Material.hh
   Mesh.hh
   Model.hh
+  NavSat.hh
   Noise.hh
   Param.hh
   parser.hh

include/sdf/SatNav.hh → include/sdf/NavSat.hh

@@ -14,8 +14,8 @@
  * limitations under the License.
  *
  */
-#ifndef SDF_SATNAV_HH_
-#define SDF_SATNAV_HH_
+#ifndef SDF_NAVSAT_HH_
+#define SDF_NAVSAT_HH_
 
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
@@ -29,19 +29,19 @@ namespace sdf
   // Inline bracket to help doxygen filtering.
   inline namespace SDF_VERSION_NAMESPACE {
   //
-  class SatNavPrivate;
+  class NavSatPrivate;
 
-  /// \brief SatNav contains information about a SatNav sensor.
-  /// This sensor can be attached to a link. The SatNav sensor can be defined
-  /// SDF XML by the "satnav" type.
+  /// \brief NavSat contains information about a NavSat sensor.
+  /// This sensor can be attached to a link. The NavSat sensor can be defined
+  /// SDF XML by the "navsat" type.
   ///
-  /// # Example SDF XML using satnav type:
+  /// # Example SDF XML using navsat type:
   ///
   /// ~~~{.xml}
-  /// <sensor name="satnav_sensor" type="satnav">
+  /// <sensor name="navsat_sensor" type="navsat">
   ///   <pose>1 2 3 0 0 0</pose>
-  ///   <topic>/satnav</topic>
-  ///   <satnav>
+  ///   <topic>/navsat</topic>
+  ///   <navsat>
   ///     <position_sensing>
   ///       <horizontal>
   ///         <noise type="gaussian">
@@ -70,36 +70,36 @@ namespace sdf
   ///         </noise>
   ///       </vertical>
   ///     </velocity_sensing>
-  ///   </satnav>
+  ///   </navsat>
   /// </sensor>
   /// ~~~
-  class SDFORMAT_VISIBLE SatNav
+  class SDFORMAT_VISIBLE NavSat
   {
     /// \brief Default constructor
-    public: SatNav();
+    public: NavSat();
 
     /// \brief Copy constructor
-    /// \param[in] _satnav SatNav to copy.
-    public: SatNav(const SatNav &_satnav);
+    /// \param[in] _navsat NavSat to copy.
+    public: NavSat(const NavSat &_navsat);
 
     /// \brief Move constructor
-    /// \param[in] _satnav SatNav to move.
-    public: SatNav(SatNav &&_satnav) noexcept;
+    /// \param[in] _navsat NavSat to move.
+    public: NavSat(NavSat &&_navsat) noexcept;
 
     /// \brief Destructor
-    public: ~SatNav();
+    public: ~NavSat();
 
     /// \brief Assignment operator
-    /// \param[in] _satnav The satnav to set values from.
+    /// \param[in] _navsat The navsat to set values from.
     /// \return *this
-    public: SatNav &operator=(const SatNav &_satnav);
+    public: NavSat &operator=(const NavSat &_navsat);
 
     /// \brief Move assignment operator
-    /// \param[in] _satnav The satnav to set values from.
+    /// \param[in] _navsat The navsat to set values from.
     /// \return *this
-    public: SatNav &operator=(SatNav &&_satnav) noexcept;
+    public: NavSat &operator=(NavSat &&_navsat) noexcept;
 
-    /// \brief Load the satnav based on an element pointer. This is *not*
+    /// \brief Load the navsat based on an 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
@@ -145,19 +145,19 @@ namespace sdf
     /// \return Noise values
     public: const Noise &VerticalVelocityNoise() const;
 
-    /// \brief Return true if both SatNav objects contain the same values.
-    /// \param[_in] _satnav SatNav value to compare.
-    /// \return True if 'this' == _satnav.
-    public: bool operator==(const SatNav &_satnav) const;
+    /// \brief Return true if both NavSat objects contain the same values.
+    /// \param[_in] _navsat NavSat value to compare.
+    /// \return True if 'this' == _navsat.
+    public: bool operator==(const NavSat &_navsat) const;
 
-    /// \brief Return true this SatNav object does not contain the same
+    /// \brief Return true this NavSat object does not contain the same
     /// values as the passed in parameter.
-    /// \param[_in] _satnav SatNav value to compare.
-    /// \return True if 'this' != _satnav.
-    public: bool operator!=(const SatNav &_satnav) const;
+    /// \param[_in] _navsat NavSat value to compare.
+    /// \return True if 'this' != _navsat.
+    public: bool operator!=(const NavSat &_navsat) const;
 
     /// \brief Private data pointer.
-    private: SatNavPrivate *dataPtr;
+    private: NavSatPrivate *dataPtr;
   };
   }
 }

include/sdf/Sensor.hh

@@ -35,10 +35,10 @@ namespace sdf
   class AirPressure;
   class Altimeter;
   class Camera;
-  class SatNav;
   class Imu;
   class Lidar;
   class Magnetometer;
+  class NavSat;
   class SensorPrivate;
   struct PoseRelativeToGraph;
 
@@ -66,8 +66,8 @@ namespace sdf
     /// \brief A force-torque sensor.
     FORCE_TORQUE = 5,
 
-    /// \brief A SatNav sensor, such as GPS.
-    SATNAV = 6,
+    /// \brief A GPS sensor.
+    GPS = 6,
 
     /// \brief A GPU based lidar sensor.
     GPU_LIDAR = 7,
@@ -110,7 +110,10 @@ namespace sdf
     RGBD_CAMERA = 19,
 
     /// \brief A thermal camera sensor
-    THERMAL_CAMERA = 20
+    THERMAL_CAMERA = 20,
+
+    /// \brief A NavSat sensor, such as GPS.
+    NAVSAT = 21
   };
 
   /// \brief Information about an SDF sensor.
@@ -288,17 +291,16 @@ namespace sdf
     /// \sa SensorType Type() const
     public: const Camera *CameraSensor() const;
 
-    /// \brief Set the SATNAV sensor.
-    /// \param[in] _satnav The SATNAV sensor.
-    public: void SetSatNavSensor(const SatNav &_satnav);
+    /// \brief Set the NAVSAT sensor.
+    /// \param[in] _navsat The NAVSAT sensor.
+    public: void SetNavSatSensor(const NavSat &_navsat);
 
-    /// \brief Get a pointer to an SATNAV sensor, or nullptr if the sensor
-    /// does not contain an SATNAV sensor.
-    /// \return Pointer to the sensor's SATNAV, or nullptr if the sensor
-    /// is not an SATNAV.
+    /// \brief Get a pointer to a NAVSAT sensor, or nullptr if the sensor
+    /// does not contain an NAVSAT sensor.
+    /// \return Pointer to the sensor's NAVSAT, or nullptr if the sensor
+    /// is not an NAVSAT.
     /// \sa SensorType Type() const
-    public: const SatNav *SatNavSensor() const;
-
+    public: const NavSat *NavSatSensor() const;
 
     /// \brief Set the IMU sensor.
     /// \param[in] _imu The IMU sensor.

sdf/1.7/navsat.sdf

@@ -0,0 +1,40 @@
+<element name="navsat" required="0">
+  <description>These elements are specific to the NAVSAT sensor.</description>
+
+  <element name="position_sensing" required="0">
+    <description>
+      Parameters related to NAVSAT position measurement.
+    </description>
+    <element name="horizontal" required="0">
+      <description>
+        Noise parameters for horizontal position measurement, in units of meters.
+      </description>
+      <include filename="noise.sdf" required="0"/>
+    </element>
+    <element name="vertical" required="0">
+      <description>
+        Noise parameters for vertical position measurement, in units of meters.
+      </description>
+      <include filename="noise.sdf" required="0"/>
+    </element>
+  </element>
+
+  <element name="velocity_sensing" required="0">
+    <description>
+      Parameters related to NAVSAT position measurement.
+    </description>
+    <element name="horizontal" required="0">
+      <description>
+        Noise parameters for horizontal velocity measurement, in units of meters/second.
+      </description>
+      <include filename="noise.sdf" required="0"/>
+    </element>
+    <element name="vertical" required="0">
+      <description>
+        Noise parameters for vertical velocity measurement, in units of meters/second.
+      </description>
+      <include filename="noise.sdf" required="0"/>
+    </element>
+  </element>
+
+</element>

sdf/1.7/sensor.sdf

@@ -22,6 +22,7 @@
                   logical_camera,
                   magnetometer,
                   multicamera,
+                  navsat,
                   ray,
                   rfid,
                   rfidtag,
@@ -30,7 +31,7 @@
                   thermal_camera, thermal,
                   wireless_receiver, and
                   wireless_transmitter.
-      The "ray" and "gpu_ray" types are equivalent to "lidar" and "gpu_lidar", respectively. It is preferred to use "lidar" and "gpu_lidar" since "ray" and "gpu_ray" will be deprecated. The "ray" and "gpu_ray" types are maintained for legacy support.
+      The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support.
     </description>
   </attribute>
 

src/CMakeLists.txt

@@ -27,7 +27,6 @@ set (sources
   FrameSemantics.cc
   Filesystem.cc
   Geometry.cc
-  SatNav.cc
   Gui.cc
   Heightmap.cc
   ign.cc
@@ -41,6 +40,7 @@ set (sources
   Material.cc
   Mesh.cc
   Model.cc
+  NavSat.cc
   Noise.cc
   parser.cc
   parser_urdf.cc
@@ -98,7 +98,6 @@ if (BUILD_SDF_TEST)
     Frame_TEST.cc
     Filesystem_TEST.cc
     Geometry_TEST.cc
-    SatNav_TEST.cc
     Gui_TEST.cc
     Heightmap_TEST.cc
     Imu_TEST.cc
@@ -111,6 +110,7 @@ if (BUILD_SDF_TEST)
     Material_TEST.cc
     Mesh_TEST.cc
     Model_TEST.cc
+    NavSat_TEST.cc
     Noise_TEST.cc
     Param_TEST.cc
     parser_TEST.cc