Normalize joint axis xyz vector when parsing from SDFormat #312

azeey · 2020-07-02T02:00:27Z

Closes #307. Note that normalization is done only when parsing from SDFormat, i.e, values set via JointAxis::SetXyz are not normalized.

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

codecov-commenter · 2020-07-02T02:11:36Z

Codecov Report

Merging #312 into sdf10 will increase coverage by 0.00%.
The diff coverage is 100.00%.

@@           Coverage Diff           @@
##            sdf10     #312   +/-   ##
=======================================
  Coverage   87.50%   87.51%           
=======================================
  Files          60       60           
  Lines        9085     9090    +5     
=======================================
+ Hits         7950     7955    +5     
  Misses       1135     1135

Impacted Files	Coverage Δ
src/JointAxis.cc	`94.15% <100.00%> (+0.11%)`	⬆️
include/sdf/Types.hh	`100.00% <0.00%> (ø)`

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scpeters

looks good, just needs entries in the changelog and migration guide

scpeters · 2020-07-05T23:55:14Z

ready for review from @EricCousineau-TRI

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey · 2020-07-08T18:31:29Z

@osrf-jenkins run tests please

EricCousineau-TRI

Looks awesome, thanks!!!

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey · 2020-07-15T20:44:46Z

I've looked through the libsdformat code and we do already use SDF_ASSERT in a few places (Element.cc:970, Param.cc:71), so I've added it in JointAxis::SetXyz. But I would note that all of the existing uses of SDF_ASSERT are in code that provides the sdf::Element API, so this the first use of exceptions in the DOM API.

EricCousineau-TRI · 2020-07-16T19:17:09Z

Per f2f, if the return type is changed from void to Error, then the function should gain a [[nodiscard]] attribute so that warnings can be thrown.

include/sdf/JointAxis.hh

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

scpeters

looks good once the compiler error is fixed

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey · 2020-07-28T00:23:34Z

@osrf-jenkins run tests please

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

EricCousineau-TRI · 2020-07-30T18:25:25Z

Per f2f, this is most likely broken due to some oddities with github actions (e.g. fetching opaquely from pull/XYZ/merge rather than pull/XYZ/head).

…#312) * Normalize joint axis xyz vector when parsing from SDFormat Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>

* Normalize joint axis xyz vector when parsing from SDFormat Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>

dirk-thomas · 2020-08-24T19:27:27Z

@azeey This pull request seem to have introduced the following compiler warnings: https://build.osrfoundation.org/job/ignition_launch-ci-master-bionic-amd64/10/

[Discovered during osrf/buildfarmer#84]

scpeters · 2020-08-24T20:50:47Z

@azeey This pull request seem to have introduced the following compiler warnings: https://build.osrfoundation.org/job/ignition_launch-ci-master-bionic-amd64/10/

[Discovered during osrf/buildfarmer#84]

yes, this has caused some test failures, now that it has been included in the prerelease 10.0.0~~pre210.0.0~~pre2

the test failures will be fixed by gazebosim/gz-sim#288

Normalize joint axis xyz vector when parsing from SDFormat

ed127a4

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

azeey requested review from scpeters and EricCousineau-TRI July 2, 2020 02:00

azeey self-assigned this Jul 2, 2020

azeey added this to In progress in SDFormat Development TRI (Moved to https://github.com/orgs/ignitionrobotics/projects/6) via automation Jul 2, 2020

scpeters approved these changes Jul 2, 2020

View reviewed changes

Update changelog

0bdd4e3

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Merge branch 'sdf10' into normalize_joint_xyz

a4df319

EricCousineau-TRI approved these changes Jul 9, 2020

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EricCousineau-TRI moved this from In progress to In Review in SDFormat Development TRI (Moved to https://github.com/orgs/ignitionrobotics/projects/6) Jul 9, 2020

Throw exception if JointAxis::SetXyz is called with a zero norm vector

109fbcc

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

EricCousineau-TRI mentioned this pull request Jul 16, 2020

Document design of DOM objects #292

Open

scpeters requested changes Jul 16, 2020

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include/sdf/JointAxis.hh Outdated Show resolved Hide resolved

azeey added 2 commits July 22, 2020 10:54

Merge remote-tracking branch 'upstream/sdf10' into normalize_joint_xyz

6ccb301

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Return sdf::Errors from JointAxis::SetXyz instead of throwing

5750158

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

EricCousineau-TRI approved these changes Jul 23, 2020

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scpeters approved these changes Jul 24, 2020

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azeey added 2 commits July 27, 2020 17:41

Fix error message comparison

a2e524c

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Merge remote-tracking branch 'upstream/sdf10' into normalize_joint_xyz

a9db0cb

EricCousineau-TRI approved these changes Jul 27, 2020

View reviewed changes

Codecheck

dcf2247

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

Merge branch 'sdf10' into normalize_joint_xyz

c89eea8

azeey merged commit 5b53e44 into gazebosim:sdf10 Aug 7, 2020

SDFormat Development TRI (Moved to https://github.com/orgs/ignitionrobotics/projects/6) automation moved this from In Review to Done Aug 7, 2020

This was referenced Aug 7, 2020

//joint/axis/xyz: Should normalize, or fail if norm(xyz) < tol #307

Closed

Add error handling for JointAxis::SetXyz and remove use of use_parent_model_frame gazebosim/gz-sim#288

Merged

scpeters mentioned this pull request Aug 17, 2020

Cherry-pick #312, #316 to master #339

Merged

azeey mentioned this pull request Oct 27, 2020

Initial urdf parser plugin that parses sdformat ros/sdformat_urdf#1

Merged

nkoenig removed this from Done in SDFormat Development TRI (Moved to https://github.com/orgs/ignitionrobotics/projects/6) Jun 28, 2021

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Normalize joint axis xyz vector when parsing from SDFormat #312

Normalize joint axis xyz vector when parsing from SDFormat #312

azeey commented Jul 2, 2020

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scpeters commented Aug 24, 2020

Normalize joint axis xyz vector when parsing from SDFormat #312

Normalize joint axis xyz vector when parsing from SDFormat #312

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