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sdf 1.8: add capsule geometry type #389

Merged
merged 14 commits into from
Dec 15, 2020
Merged

sdf 1.8: add capsule geometry type #389

merged 14 commits into from
Dec 15, 2020

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scpeters
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@scpeters scpeters commented Oct 13, 2020 •
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This adds a capsule geometry type to the SDFormat 1.8 spec. This shape is a cylinder with hemispheres capping each end. Due to the similarity to a cylinder, the same parameters length and radius are used. The Cylinder DOM class was copied and modified mainly with search and replace s/ylinder/apsule/ to support the new shape. This requires gazebosim/gz-math#163, so this will be a Draft PR until that is merged and released.

Part of #376.

Update: ignition-math 6.7.0 has been released, so this is now ready for review.

@scpeters
Add capsule type to sdf/1.8/geometry.sdf
e1846db 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Add Capsule DOM class based on Cylinder
febd668 
Copy Cylinder class and unit tests to create Capsule.
Add Capsule to Geometry enum, logic, and integration
test.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Require ignition-math6 6.7
a5d381c 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters scpeters added this to the SDFormat 1.8 / libsdformat11 milestone Oct 13, 2020
This was referenced Oct 13, 2020
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@scpeters
Fix copyright dates
b00ed0b 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Bump enum value since HEIGHTMAP will be 6
d0a8dd5 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Merge branch 'master' into capsule
a1ca323
@scpeters
Merge branch 'master' into capsule
c183dcc
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codecov-io commented Nov 24, 2020 •
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Codecov Report

Merging #389 (d9f11c4) into master (28e16c8) will increase coverage by 0.07%.
The diff coverage is 95.00%.

Impacted file tree graph

@@            Coverage Diff             @@
##           master     #389      +/-   ##
==========================================
+ Coverage   87.52%   87.60%   +0.07%     
==========================================
  Files          62       63       +1     
  Lines        9542     9616      +74     
==========================================
+ Hits         8352     8424      +72     
- Misses       1190     1192       +2
Impacted Files Coverage Δ
src/Geometry.cc 92.03% <84.61%> (-0.97%) ⬇️
src/Capsule.cc 96.61% <96.61%> (ø)
src/Cylinder.cc 96.66% <100.00%> (+3.56%) ⬆️

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@scpeters scpeters marked this pull request as ready for review November 24, 2020 06:22
azeey
azeey requested changes Nov 24, 2020
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LGTM. Just left some minor comments

include/sdf/Geometry.hh Show resolved Hide resolved
src/Capsule.cc Outdated Show resolved Hide resolved
src/Capsule.cc Outdated Show resolved Hide resolved
src/Capsule.cc Outdated Show resolved Hide resolved
test/sdf/shapes_world.sdf Show resolved Hide resolved
@scpeters
Fix error messages about default radius
861a346 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Test shapes files with ign sdf --check
09f0658 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Simplify copy constructor
feb90f6 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
scpeters
scpeters commented Nov 25, 2020
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include/sdf/Capsule.hh Outdated
public: Capsule(Capsule &&_capsule) noexcept;

/// \brief Destructor
public: virtual ~Capsule();
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is there any point to having a virtual destructor? I copied it from the other classes, but would it be better without the virtual?

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I was going to leave a comment about that but didn't because the other classes use virtual destructors. IMO, these classes are not meant to be used polymorphically (they don't have any virtual functions), so there is no need for a virtual destructor.

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made non-virtual in 1c09156

@scpeters
Update Migration guide for capsule
778e3fb 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
chapulina
chapulina approved these changes Nov 25, 2020
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LGTM, I just have some minor comments and questions.

sdf/1.8/capsule_shape.sdf Show resolved Hide resolved
src/Capsule.cc Outdated Show resolved Hide resolved
src/Cylinder.cc Outdated Show resolved Hide resolved
@scpeters scpeters mentioned this pull request Dec 2, 2020
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@scpeters
Make ~Capsule non-virtual
1c09156 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Don't check for missing required elements
6169fec 
The parser will populate them with default values.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@brawner brawner mentioned this pull request Dec 11, 2020
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@scpeters scpeters merged commit fc4dc8c into gazebosim:master Dec 15, 2020
@scpeters scpeters deleted the capsule branch December 15, 2020 05:23
@chapulina chapulina mentioned this pull request Dec 17, 2020
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@azeey azeey azeey approved these changes

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