proposal: Should allow //pose rotation to be specified in degrees?
#252
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Release target is SDFormat 1.8 (est. Dec. 1, 2020). Could also incorporate quaternions, Denavit-Hartenberg, etc. But we should avoid pre-Cambrian explosims 💥... Other option: Require degrees, full-stop. |
This was referenced Jul 30, 2020
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Punting on this for SDFormat 1.8 |
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Per VC, Addisu mentioned that Aaron is looking into whether XSD and/or I am fine w/ compromise (e.g. Operating plan is to target Fortress (Sept. 2021): https://ignitionrobotics.org/docs/all/releases |
aaronchongth
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Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
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* Added rotation type attribute to pose, handled parsing in param Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using degrees boolean attribute in pose instead, added tests and test sdf Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix code check Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Changed attribute to @rotation_type, modified tests, added delimiters Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Passing attributes into param value parsing, reverted Utils loadPose function Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Reverted location of parsing nested sdf Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Added parent element for param, more tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Const ref for GetAttributes and it's relevant calls Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Reverting clone and copy behavior without reallocating memory, using make_shared Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Compared parent element pointers instead of just the names Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Removed redundant reset, checked for null parent before printing error Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Moved tests from integration/param_parent_element to Param_TEST Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Reverting urdf.sdf, adding new pose_without_frames.sdf, using that in actor and inertial Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fixed typo, added explicit named default variable, made rotation type errors clearer Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Added comment in pose_1_9.sdf that each pose is independent Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Removed use of parsing by string, modified tests to reflect changed behavior Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Reverted changes made to schema for poses that do not handle relative_to frames Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * ComCompare degrees more explicitly in tests instead of using IGN_DTOR Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using consistent notation for reporting rotation_type attribute, modifying test Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using instead of typedef for forward declaration, error strings include full value Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using RedirectConsoleStream and ScopeExit, using Root and Root::LoadSdfString in tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Added Reparse function for Param, relevant tests regarding rotation_type manipulation, cleaned up Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Reducing changes to just the degrees attribute, modifying tests because of behavior changes in Set Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fixed stale brief and comment, breaking for loops early Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Changed 'required' of @relative_to and @Degrees to 0, and modified description of pose to be more explicit Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Modified reparsing tests in Param_TEST, added another test using Pose Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using alias Pose instead of full type name, added check for parent element pointer, fixed typo Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Support printing pose elements in degrees, added tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Removed const for SetParentElement Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Adding additional documentation for the behavior between Set<T> and Reparse Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Storing parsed tokens in array instead of vector Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Used explicit Get<boo> for degrees attribute Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fixed missing array include for windows build Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Check for valueIndex, instead of array size Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
8 tasks
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Closing given merge of #689 |
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Will make proposal with suggested syntax. Degrees is my main interest, but we can leave space for other stuff.
Came about recently (as well as longer ago) when discussing here:
RobotLocomotion/drake#13036 (review)
Steps:
//pose[@rotation_type]#589Update document to better reflect proposed and accepted implementations sdf_tutorials#56ign sdfSupport printing sdf poses in degrees and allow snapping to commonly used angles #689Relates: origin: Support degrees in
rpyros/urdfdom#124(Moved from gazebosim/sdf_tutorials#8)
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