Geometry and others: update calls to use sdf::Errors parameters (#1153)

Signed-off-by: Marco A. Gutierrez <marco@openrobotics.org>

include/sdf/Box.hh

@@ -72,6 +72,14 @@ namespace sdf
     /// \return SDF element pointer with updated box values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// box.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated box values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Capsule.hh

@@ -79,6 +79,14 @@ namespace sdf
     /// \return SDF element pointer with updated capsule values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// capsule.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated capsule values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Collision.hh

@@ -132,6 +132,14 @@ namespace sdf
     /// \return SDF element pointer with updated collision values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// collision.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated collision values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Give the name of the xml parent of this object, to be used
     /// for resolving poses. This is private and is intended to be called by
     /// Link::SetPoseRelativeToGraph.

include/sdf/Cylinder.hh

@@ -79,6 +79,14 @@ namespace sdf
     /// \return SDF element pointer with updated cylinder values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// cylinder.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated cylinder values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Ellipsoid.hh

@@ -71,6 +71,14 @@ namespace sdf
     /// \return SDF element pointer with updated ellipsoid values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// ellipsoid.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated ellipsoid values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Geometry.hh

@@ -222,6 +222,14 @@ namespace sdf
     /// \return SDF element pointer with updated geometry values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// geometry.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated geometry values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Heightmap.hh

@@ -244,6 +244,14 @@ namespace sdf
     /// \return SDF element pointer with updated heightmap values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// heightmap.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated heightmap values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Mesh.hh

@@ -116,6 +116,14 @@ namespace sdf
     /// \return SDF element pointer with updated mesh values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// mesh.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated mesh values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Plane.hh

@@ -87,6 +87,14 @@ namespace sdf
     /// \return SDF element pointer with updated plane values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// plane.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated plane values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Polyline.hh

@@ -91,6 +91,14 @@ namespace sdf
     /// \return SDF element pointer with updated polyline values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// polyline.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[in] _errors Vector of errors.
+    /// \return SDF element pointer with updated polyline values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Sphere.hh

@@ -72,6 +72,14 @@ namespace sdf
     /// \return SDF element pointer with updated sphere values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// sphere.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated sphere values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Surface.hh

@@ -200,6 +200,14 @@ namespace sdf
     /// \return SDF element pointer with updated surface values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// surface.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated surface values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

src/Box.cc

@@ -17,6 +17,7 @@
 #include <gz/math/Vector3.hh>
 #include "sdf/Box.hh"
 #include "sdf/parser.hh"
+#include "Utils.hh"
 
 using namespace sdf;
 
@@ -64,7 +65,7 @@ Errors Box::Load(ElementPtr _sdf)
   if (_sdf->HasElement("size"))
   {
     std::pair<gz::math::Vector3d, bool> pair =
-      _sdf->Get<gz::math::Vector3d>("size", this->dataPtr->box.Size());
+      _sdf->Get<gz::math::Vector3d>(errors, "size", this->dataPtr->box.Size());
 
     if (!pair.second)
     {
@@ -116,12 +117,21 @@ gz::math::Boxd &Box::Shape()
 
 /////////////////////////////////////////////////
 sdf::ElementPtr Box::ToElement() const
+{
+  sdf::Errors errors;
+  auto result = this->ToElement(errors);
+  sdf::throwOrPrintErrors(errors);
+  return result;
+}
+
+/////////////////////////////////////////////////
+sdf::ElementPtr Box::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
   sdf::initFile("box_shape.sdf", elem);
 
-  sdf::ElementPtr sizeElem = elem->GetElement("size");
-  sizeElem->Set(this->Size());
+  sdf::ElementPtr sizeElem = elem->GetElement("size", _errors);
+  sizeElem->Set(_errors, this->Size());
 
   return elem;
 }

src/Box_TEST.cc

@@ -18,6 +18,7 @@
 #include <gtest/gtest.h>
 #include "sdf/Box.hh"
 #include "sdf/Element.hh"
+#include "test_utils.hh"
 
 /////////////////////////////////////////////////
 TEST(DOMBox, Construction)
@@ -159,3 +160,39 @@ TEST(DOMBox, ToElement)
 
   EXPECT_EQ(box.Size(), box2.Size());
 }
+
+/////////////////////////////////////////////////
+TEST(DOMBox, ToElementErrorOutput)
+{
+
+  std::stringstream buffer;
+  sdf::testing::RedirectConsoleStream redir(
+      sdf::Console::Instance()->GetMsgStream(), &buffer);
+
+  #ifdef _WIN32
+    sdf::Console::Instance()->SetQuiet(false);
+    sdf::testing::ScopeExit revertSetQuiet(
+      []
+      {
+        sdf::Console::Instance()->SetQuiet(true);
+      });
+  #endif
+
+  sdf::Box box;
+  sdf::Errors errors;
+
+  box.SetSize(gz::math::Vector3d(1, 2, 3));
+
+  sdf::ElementPtr elem = box.ToElement(errors);
+  EXPECT_TRUE(errors.empty());
+  ASSERT_NE(nullptr, elem);
+
+  sdf::Box box2;
+  errors = box2.Load(elem);
+  EXPECT_TRUE(errors.empty());
+
+  EXPECT_EQ(box.Size(), box2.Size());
+
+  // Check nothing has been printed
+  EXPECT_TRUE(buffer.str().empty()) << buffer.str();
+}

src/Capsule.cc

@@ -17,6 +17,7 @@
 #include <sstream>
 #include "sdf/Capsule.hh"
 #include "sdf/parser.hh"
+#include "Utils.hh"
 
 using namespace sdf;
 
@@ -62,7 +63,7 @@ Errors Capsule::Load(ElementPtr _sdf)
   }
 
   {
-    std::pair<double, bool> pair = _sdf->Get<double>("radius",
+    std::pair<double, bool> pair = _sdf->Get<double>(errors, "radius",
         this->dataPtr->capsule.Radius());
 
     if (!pair.second)
@@ -77,7 +78,7 @@ Errors Capsule::Load(ElementPtr _sdf)
   }
 
   {
-    std::pair<double, bool> pair = _sdf->Get<double>("length",
+    std::pair<double, bool> pair = _sdf->Get<double>(errors, "length",
         this->dataPtr->capsule.Length());
 
     if (!pair.second)
@@ -138,15 +139,24 @@ gz::math::Capsuled &Capsule::Shape()
 
 /////////////////////////////////////////////////
 sdf::ElementPtr Capsule::ToElement() const
+{
+  sdf::Errors errors;
+  auto result = this->ToElement(errors);
+  sdf::throwOrPrintErrors(errors);
+  return result;
+}
+
+/////////////////////////////////////////////////
+sdf::ElementPtr Capsule::ToElement(sdf::Errors &_errors) const
 {
   sdf::ElementPtr elem(new sdf::Element);
   sdf::initFile("capsule_shape.sdf", elem);
 
-  sdf::ElementPtr radiusElem = elem->GetElement("radius");
-  radiusElem->Set(this->Radius());
+  sdf::ElementPtr radiusElem = elem->GetElement("radius", _errors);
+  radiusElem->Set(_errors, this->Radius());
 
-  sdf::ElementPtr lengthElem = elem->GetElement("length");
-  lengthElem->Set(this->Length());
+  sdf::ElementPtr lengthElem = elem->GetElement("length", _errors);
+  lengthElem->Set(_errors, this->Length());
 
   return elem;
 }

src/Capsule_TEST.cc

@@ -17,6 +17,7 @@
 
 #include <gtest/gtest.h>
 #include "sdf/Capsule.hh"
+#include "test_utils.hh"
 
 /////////////////////////////////////////////////
 TEST(DOMCapsule, Construction)
@@ -197,3 +198,40 @@ TEST(DOMCapsule, ToElement)
   EXPECT_DOUBLE_EQ(capsule.Radius(), capsule2.Radius());
   EXPECT_DOUBLE_EQ(capsule.Length(), capsule2.Length());
 }
+
+/////////////////////////////////////////////////
+TEST(DOMCapsule, ToElementErrorOutput)
+{
+  std::stringstream buffer;
+  sdf::testing::RedirectConsoleStream redir(
+      sdf::Console::Instance()->GetMsgStream(), &buffer);
+
+  #ifdef _WIN32
+    sdf::Console::Instance()->SetQuiet(false);
+    sdf::testing::ScopeExit revertSetQuiet(
+      []
+      {
+        sdf::Console::Instance()->SetQuiet(true);
+      });
+  #endif
+
+  sdf::Capsule capsule;
+  sdf::Errors errors;
+
+  capsule.SetRadius(1.2);
+  capsule.SetLength(0.5);
+
+  sdf::ElementPtr elem = capsule.ToElement(errors);
+  EXPECT_TRUE(errors.empty());
+  ASSERT_NE(nullptr, elem);
+
+  sdf::Capsule capsule2;
+  errors = capsule2.Load(elem);
+  EXPECT_TRUE(errors.empty());
+
+  EXPECT_DOUBLE_EQ(capsule.Radius(), capsule2.Radius());
+  EXPECT_DOUBLE_EQ(capsule.Length(), capsule2.Length());
+
+  // Check nothing has been printed
+  EXPECT_TRUE(buffer.str().empty()) << buffer.str();
+}