11 ➡️ main

.gitignore

@@ -2,3 +2,4 @@
 build
 build_*
 *.*.sw?
+.vscode

CMakeLists.txt

@@ -274,6 +274,27 @@ else (build_errors)
     add_subdirectory(doc)
   endif(BUILD_SDF)
 
+  ########################################
+  # Setup Codecheck
+  include (IgnCodeCheck)
+  set(CPPCHECK_DIRS
+    ${PROJECT_SOURCE_DIR}/src
+    ${PROJECT_SOURCE_DIR}/include
+    ${PROJECT_SOURCE_DIR}/test/integration
+    ${PROJECT_SOURCE_DIR}/test/performance)
+
+  set(CPPCHECK_INCLUDE_DIRS
+    ${PROJECT_BINARY_DIR}
+    ${PROJECT_SOURCE_DIR}/include
+    ${PROJECT_SOURCE_DIR}/test/integration
+    ${PROJECT_SOURCE_DIR}/test/performance)
+
+  # Ignore vendored directories.
+  file(WRITE ${PROJECT_BINARY_DIR}/cppcheck.suppress
+    "*:${PROJECT_SOURCE_DIR}/src/urdf/*\n"
+    )
+  ign_setup_target_for_codecheck()
+
   ########################################
   # Make the package config file
   set(PC_CONFIG_INSTALL_DIR ${LIB_INSTALL_DIR}/pkgconfig)

Changelog.md

@@ -354,6 +354,62 @@
 
 ### libsdformat 9.X.X (202X-XX-XX)
 
+### libsdformat 9.6.0 (2021-08-18)
+
+1. Adds `enable_metrics` flag to Sensor.
+    * [Pull request #665](https://github.com/ignitionrobotics/sdformat/pull/665)
+
+1. Add GPS sensor DOM to sdf9
+    * [Pull request #453](https://github.com/ignitionrobotics/sdformat/pull/453)
+
+1. Support parsing elements that are not part of the schema
+    * [Pull request #638](https://github.com/ignitionrobotics/sdformat/pull/638)
+
+1. Add lightmap to 1.7 spec and PBR material DOM
+    * [Pull request #429](https://github.com/ignitionrobotics/sdformat/pull/429)
+
+1. Fix urdf link extension tags
+    * [Pull request #628](https://github.com/ignitionrobotics/sdformat/pull/628)
+
+1. Updated material spec
+    * [Pull request #644](https://github.com/ignitionrobotics/sdformat/pull/644)
+
+1. Minor fix to Migration guide
+    * [Pull request #630](https://github.com/ignitionrobotics/sdformat/pull/630)
+
+1. Error: move << operator from .hh to .cc file
+    * [Pull request #625](https://github.com/ignitionrobotics/sdformat/pull/625)
+
+1. Update build system to allow overriding CXX flags and using clang on Linux
+    * [Pull request #621](https://github.com/ignitionrobotics/sdformat/pull/621)
+
+1. Add Element::FindElement as an alternative to Element::GetElement
+    * [Pull request #620](https://github.com/ignitionrobotics/sdformat/pull/620)
+
+1. Add ValidateGraphs methods to Model/World (sdf9)
+    * [Pull request #602](https://github.com/ignitionrobotics/sdformat/pull/602)
+
+1. Fix ABI break
+    * [Pull request #605](https://github.com/ignitionrobotics/sdformat/pull/605)
+
+1. Making PrintValues() and ToString() able to not print default elements
+    * [Pull request #575](https://github.com/ignitionrobotics/sdformat/pull/575)
+
+1. Add API for determining if an element was set by the user
+    * [Pull request #542](https://github.com/ignitionrobotics/sdformat/pull/542)
+
+1. Methods for removing attributes from an element
+    * [Pull request #555](https://github.com/ignitionrobotics/sdformat/pull/555)
+
+1. Improve docs of collision_bitmask.
+    * [Pull request #521](https://github.com/ignitionrobotics/sdformat/pull/521)
+
+1. Add camera type aliases to docs.
+    * [Pull request #514](https://github.com/ignitionrobotics/sdformat/pull/514)
+
+1. Add action-ignition-ci
+    * [Pull request #501](https://github.com/ignitionrobotics/sdformat/pull/452)
+
 ### libsdformat 9.5.0 (2021-02-11)
 
 1. Add Windows installation

README.md

@@ -31,7 +31,8 @@ TODO(eric.cousineau): Move terminology section to sdf_tutorials?
 
 ## Test coverage
 
-[![codecov](https://codecov.io/gh/osrf/sdformat/branch/master/graph/badge.svg)](https://codecov.io/gh/osrf/sdformat)
+<!-- Note: The branch name in the codecov URL should be updated when forward porting -->
+[![codecov](https://codecov.io/gh/ignitionrobotics/sdformat/branch/main/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/sdformat/branch/main)
 
 # Installation
 
@@ -44,7 +45,11 @@ The Source Installation instructions should be used if you need the very latest
 ### Ubuntu
 
 On Ubuntu systems, `apt-get` can be used to install `sdformat`:
-```
+```sh
+sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+sudo apt-get update
+
 sudo apt install libsdformat<#>-dev libsdformat<#>
 ```
 

cmake/SearchForStuff.cmake

@@ -102,8 +102,8 @@ endmacro()
 
 ########################################
 # Find ignition cmake2
-# Only for using the testing macros, not really
-# being use to configure the whole project
+# Only for using the testing macros and creating the codecheck target, not 
+# really being use to configure the whole project
 find_package(ignition-cmake2 2.3 REQUIRED)
 set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
 

include/sdf/CMakeLists.txt

@@ -38,6 +38,7 @@ set (headers
   Material.hh
   Mesh.hh
   Model.hh
+  NavSat.hh
   Noise.hh
   Param.hh
   parser.hh

include/sdf/Console.hh

@@ -73,7 +73,7 @@ namespace sdf
       /// \brief Constructor.
       /// \param[in] _stream Pointer to an output stream operator. Can be
       /// NULL/nullptr.
-      public: ConsoleStream(std::ostream *_stream) :
+      public: explicit ConsoleStream(std::ostream *_stream) :
               stream(_stream) {}
 
       /// \brief Redirect whatever is passed in to both our ostream

include/sdf/Element.hh

@@ -207,7 +207,7 @@ namespace sdf
                               const std::string &_type,
                               const std::string &_defaultvalue,
                               bool _required,
-                              const std::string &_description="");
+                              const std::string &_description = "");
 
     /// \brief Add a value to this Element.
     /// \param[in] _type Type of data the parameter will hold.
@@ -217,7 +217,7 @@ namespace sdf
     /// \throws sdf::AssertionInternalError if an invalid type is given.
     public: void AddValue(const std::string &_type,
                           const std::string &_defaultValue, bool _required,
-                          const std::string &_description="");
+                          const std::string &_description = "");
 
     /// \brief Add a value to this Element. This override allows passing min and
     /// max values of the parameter.
@@ -553,7 +553,7 @@ namespace sdf
                                   const std::string &_type,
                                   const std::string &_defaultValue,
                                   bool _required,
-                                  const std::string &_description="");
+                                  const std::string &_description = "");
 
 
     /// \brief Private data pointer

include/sdf/Exception.hh

@@ -118,6 +118,7 @@ namespace sdf
     /// \param[in] _line Line number where the error occurred
     /// \param[in] _msg Error message
     public: InternalError(const char *_file, std::int64_t _line,
+                          // cppcheck-suppress passedByValue
                           const std::string _msg);
 
     /// \brief Destructor
@@ -140,8 +141,11 @@ namespace sdf
     /// \param[in] _msg Function where assertion failed
     public: AssertionInternalError(const char *_file,
                                    std::int64_t _line,
+                                   // cppcheck-suppress passedByValue
                                    const std::string _expr,
+                                   // cppcheck-suppress passedByValue
                                    const std::string _function,
+                                   // cppcheck-suppress passedByValue
                                    const std::string _msg = "");
     /// \brief Destructor
     public: virtual ~AssertionInternalError();

include/sdf/Imu.hh

@@ -232,6 +232,16 @@ namespace sdf
     /// \param[in] _frame The name of the parent frame.
     public: void SetCustomRpyParentFrame(const std::string &_frame);
 
+    /// \brief Get whether orientation data generation is enabled.
+    /// \return True if orientation data generation is enabled orientation data,
+    /// false otherwise.
+    public: bool OrientationEnabled() const;
+
+    /// \brief Set whether to enable orientation data generation.
+    /// \param[in] _enabled True to enabled orientation data, false to disable
+    /// it.
+    public: void SetOrientationEnabled(bool _enabled);
+
     /// \brief Return true if both Imu objects contain the same values.
     /// \param[_in] _imu Imu value to compare.
     /// \returen True if 'this' == _imu.

include/sdf/Model.hh

@@ -315,7 +315,7 @@ namespace sdf
     /// relative to the current model, delimited by "::".
     /// \return An immutable pointer to the canonical link and the nested
     /// name of the link relative to the current model.
-    // TODO (addisu): If the canonical link is inside an interface model, this
+    // TODO(addisu): If the canonical link is inside an interface model, this
     // function returns {nullptr, name}. This can be problematic for downstream
     // applications.
     public: std::pair<const Link *, std::string> CanonicalLinkAndRelativeName()

include/sdf/NavSat.hh

@@ -0,0 +1,141 @@
+/*
+ * Copyright 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef SDF_NAVSAT_HH_
+#define SDF_NAVSAT_HH_
+
+#include <ignition/utils/ImplPtr.hh>
+#include <sdf/Error.hh>
+#include <sdf/Element.hh>
+#include <sdf/Noise.hh>
+#include <sdf/sdf_config.h>
+
+#include <ignition/math/Angle.hh>
+
+namespace sdf
+{
+  // Inline bracket to help doxygen filtering.
+  inline namespace SDF_VERSION_NAMESPACE {
+  //
+  /// \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 navsat type:
+  ///
+  /// ~~~{.xml}
+  /// <sensor name="navsat_sensor" type="navsat">
+  ///   <pose>1 2 3 0 0 0</pose>
+  ///   <topic>/navsat</topic>
+  ///   <navsat>
+  ///     <position_sensing>
+  ///       <horizontal>
+  ///         <noise type="gaussian">
+  ///             <mean>0.98</mean>
+  ///             <stddev>0.76</stddev>
+  ///         </noise>
+  ///       </horizontal>
+  ///       <vertical>
+  ///         <noise type="gaussian">
+  ///             <mean>0.98</mean>
+  ///             <stddev>0.76</stddev>
+  ///         </noise>
+  ///       </vertical>
+  ///     </position_sensing>
+  ///     <velocity_sensing>
+  ///       <horizontal>
+  ///         <noise type="gaussian">
+  ///             <mean>0.98</mean>
+  ///             <stddev>0.76</stddev>
+  ///         </noise>
+  ///       </horizontal>
+  ///       <vertical>
+  ///         <noise type="gaussian">
+  ///             <mean>0.98</mean>
+  ///             <stddev>0.76</stddev>
+  ///         </noise>
+  ///       </vertical>
+  ///     </velocity_sensing>
+  ///   </navsat>
+  /// </sensor>
+  /// ~~~
+  class SDFORMAT_VISIBLE NavSat
+  {
+    /// \brief Default constructor
+    public: NavSat();
+    /// \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
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(ElementPtr _sdf);
+
+    /// \brief Get a pointer to the SDF element that was used during
+    /// load.
+    /// \return SDF element pointer. The value will be nullptr if Load has
+    /// not been called.
+    public: sdf::ElementPtr Element() const;
+
+    /// \brief Set the noise values for the horizontal position sensor
+    /// \param[in] _noise Noise values to set to
+    public: void SetHorizontalPositionNoise(const Noise &_noise);
+
+    /// \brief Get noise value for horizontal position sensor
+    /// \return Noise values
+    public: const Noise &HorizontalPositionNoise() const;
+
+    /// \brief Set the noise values for the vertical position sensor
+    /// \param[in] _noise Noise values to set to
+    public: void SetVerticalPositionNoise(const Noise &_noise);
+
+    /// \brief Get noise value for vertical position sensor
+    /// \return Noise values
+    public: const Noise &VerticalPositionNoise() const;
+
+    /// \brief Set the noise values for the horizontal velocity sensor
+    /// \param[in] _noise Noise values to set to
+    public: void SetHorizontalVelocityNoise(const Noise &_noise);
+
+    /// \brief Get noise value for horizontal velocity sensor
+    /// \return Noise values
+    public: const Noise &HorizontalVelocityNoise() const;
+
+    /// \brief Set the noise values for the vertical velocity sensor
+    /// \param[in] _noise Noise values to set to
+    public: void SetVerticalVelocityNoise(const Noise &_noise);
+
+    /// \brief Get noise value for vertical velocity sensor
+    /// \return Noise values
+    public: const Noise &VerticalVelocityNoise() 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 NavSat object does not contain the same
+    /// values as the passed in parameter.
+    /// \param[_in] _navsat NavSat value to compare.
+    /// \return True if 'this' != _navsat.
+    public: bool operator!=(const NavSat &_navsat) const;
+
+    /// \brief Private data pointer.
+    IGN_UTILS_IMPL_PTR(dataPtr)
+  };
+  }
+}
+#endif

include/sdf/Param.hh

@@ -350,6 +350,8 @@ namespace sdf
 
     /// \def ParamVariant
     /// \brief Variant type def.
+    /// Note: When a new variant is added, add variant to functions
+    /// ParamPrivate::TypeToString and ParamPrivate::ValueFromStringImpl
     public: typedef std::variant<bool, char, std::string, int, std::uint64_t,
                                    unsigned int, double, float, sdf::Time,
                                    ignition::math::Angle,
@@ -400,6 +402,7 @@ namespace sdf
   template<typename T>
   std::string ParamPrivate::TypeToString() const
   {
+    // cppcheck-suppress syntaxError
     if constexpr (std::is_same_v<T, bool>)
       return "bool";
     else if constexpr (std::is_same_v<T, char>)

include/sdf/ParticleEmitter.hh

@@ -17,6 +17,7 @@
 #ifndef SDF_PARTICLE_EMITTER_HH_
 #define SDF_PARTICLE_EMITTER_HH_
 
+#include <memory>
 #include <string>
 
 #include <ignition/math/Pose3.hh>