Center of mass visual #345

atharva-18 · 2021-06-17T12:06:41Z

🎉 New feature

Summary

Adds center of mass visual consisting of a solid sphere with axis lines.

Test it

I have added an example in the visualization_demo.

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
codecheck passed (See contributing)
All tests passed (See test coverage)
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Signed-off-by: Atharva Pusalkar <[email protected]>

into com_visual

Signed-off-by: Atharva Pusalkar <[email protected]>

atharva-18 · 2021-06-17T12:14:54Z

Ogre1 doesn't seem to have a proper scaling for the cross-lines -

Signed-off-by: Atharva Pusalkar <[email protected]>

codecov · 2021-06-21T06:11:18Z

Codecov Report

Merging #345 (4ac0699) into main (8c34f9d) will decrease coverage by 0.16%.
The diff coverage is 40.90%.

❗ Current head 4ac0699 differs from pull request most recent head aee5617. Consider uploading reports for the commit aee5617 to get more accurate results

@@            Coverage Diff             @@
##             main     #345      +/-   ##
==========================================
- Coverage   57.92%   57.76%   -0.17%     
==========================================
  Files         166      170       +4     
  Lines       16433    16627     +194     
==========================================
+ Hits         9519     9604      +85     
- Misses       6914     7023     +109

Impacted Files	Coverage Δ
include/ignition/rendering/Scene.hh	`0.00% <ø> (ø)`
include/ignition/rendering/base/BaseScene.hh	`0.00% <ø> (ø)`
ogre/src/OgreCOMVisual.cc	`0.00% <0.00%> (ø)`
ogre/src/OgreScene.cc	`27.02% <0.00%> (-0.38%)`	⬇️
ogre2/src/Ogre2COMVisual.cc	`48.35% <48.35%> (ø)`
include/ignition/rendering/base/BaseCOMVisual.hh	`86.11% <86.11%> (ø)`
src/base/BaseScene.cc	`75.73% <86.36%> (+0.37%)`	⬆️
include/ignition/rendering/COMVisual.hh	`100.00% <100.00%> (ø)`
ogre2/src/Ogre2Scene.cc	`80.73% <100.00%> (+0.15%)`	⬆️
...e/ignition/rendering/base/BaseGaussianNoisePass.hh	`96.66% <0.00%> (-3.34%)`	⬇️
... and 10 more

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ogre2/src/Ogre2COMVisual.cc

ahcorde · 2021-06-21T13:23:40Z

src/base/media/materials/textures/CMakeLists.txt

@@ -0,0 +1,4 @@
+file(GLOB files "*.png" "*.jpg")


Suggested change

file(GLOB files "*.png" "*.jpg")

file(GLOB files "*.png")

ahcorde · 2021-06-21T13:25:30Z

ogre2/src/Ogre2COMVisual.cc

+ *
+ */
+
+#include "ignition/rendering/ogre2/Ogre2COMVisual.hh"


alphabetize

Signed-off-by: Atharva Pusalkar <[email protected]>

iche033

works for me. I have a couple comments on the new APIs

include/ignition/rendering/COMVisual.hh

iche033 · 2021-06-23T18:40:57Z

ogre2/src/Ogre2COMVisual.cc

+  this->dataPtr->sphereVis->SetLocalRotation(this->InertiaPose().Rot());
+
+  // Get the link's bounding box
+  if (this->ParentLink().empty() ||


I would like to avoid the need for users to call SetParentLink function for setting linkName because we should be able to access the parent once the COMVisual is attached to the parent visual.

Once idea is to override the PreRender function:

check to see if HasParent() is true and parent name is empty in PreRender,

then Update crossLines based on the parent's bounding box.

Note that we should also avoid using the term link as that's ign-gazebo specific. I think parentName is more suitable.

Fixed in f428ba1. I have changed the API to use parentName without changing the desired behavior. Also, I think the Ogre1 BoundingBox issue (#345 (comment)) is probably not related to this PR. It's working fine for me in Ogre2.

Signed-off-by: Atharva Pusalkar <[email protected]>

iche033 · 2021-06-24T16:34:59Z

ogre/src/OgreCOMVisual.cc

  {
+    this->parentName = this->Parent()->Name();


from the user's perspective, they can get the parent name like you did here Parent()->Name() so I think ParentName() is a duplicate public facing API that we don't need to expose. Internally in this class, we can either make ParentName() private or replace ParentName() calls with this->parentName

I have replaced all calls with this->parentName
3300dc2.

ogre2/src/Ogre2COMVisual.cc

Signed-off-by: Atharva Pusalkar <[email protected]>

scpeters · 2021-06-25T16:52:56Z

include/ignition/rendering/base/BaseCOMVisual.hh

+    {
+      // Compute radius of sphere with density of lead and equivalent mass.
+      double sphereRadius;
+      double dLead = 11340;


nit: use more verbose variable name densityLead

Changed in aee5617

Signed-off-by: Atharva Pusalkar <[email protected]>

osrf-triage · 2021-09-01T11:46:09Z

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/google-summer-of-code-2021-new-gui-widgets-in-ignition-gazebo/1081/1

atharva-18 added 12 commits June 10, 2021 12:55

Add base inertia impl

1f47f13

Signed-off-by: Atharva Pusalkar <[email protected]>

Add Ogre1 implementation

3107995

Signed-off-by: Atharva Pusalkar <[email protected]>

Add Ogre2 implementation

c1891e7

Signed-off-by: Atharva Pusalkar <[email protected]>

Merge branch 'main' of https://github.com/ignitionrobotics/ign-rendering

65e3aa7

into com_visual

Add invalid mass logic

154e1dd

Signed-off-by: Atharva Pusalkar <[email protected]>

Fix visual creation

96fcf4f

Signed-off-by: Atharva Pusalkar <[email protected]>

Add test

f45fcc7

Signed-off-by: Atharva Pusalkar <[email protected]>

Change texter directory

1a35c5d

Signed-off-by: Atharva Pusalkar <[email protected]>

Add example

d950362

Signed-off-by: Atharva Pusalkar <[email protected]>

Refactor SetInertial

5023fdf

Signed-off-by: Atharva Pusalkar <[email protected]>

Add destroy method

17d2bd3

Signed-off-by: Atharva Pusalkar <[email protected]>

Fix style

6f60f7c

Signed-off-by: Atharva Pusalkar <[email protected]>

atharva-18 requested a review from iche033 as a code owner June 17, 2021 12:06

github-actions bot added the 🏯 fortress Ignition Fortress label Jun 17, 2021

Use IGN_PI

4ac0699

Signed-off-by: Atharva Pusalkar <[email protected]>

ahcorde requested changes Jun 21, 2021

View reviewed changes

atharva-18 and others added 3 commits June 21, 2021 20:03

Remove .jpg

4319626

Signed-off-by: Atharva Pusalkar <[email protected]>

Reorder Ogre2 includes

2706762

Signed-off-by: Atharva Pusalkar <[email protected]>

Merge branch 'main' into com_visual

8e673af

ahcorde approved these changes Jun 23, 2021

View reviewed changes

iche033 reviewed Jun 23, 2021

View reviewed changes

chapulina assigned atharva-18 Jun 23, 2021

atharva-18 added 2 commits June 24, 2021 12:05

Remove const ref

5d795fa

Signed-off-by: Atharva Pusalkar <[email protected]>

Remove SetParentLink

f428ba1

Signed-off-by: Atharva Pusalkar <[email protected]>

iche033 reviewed Jun 24, 2021

View reviewed changes

scpeters reviewed Jun 25, 2021

View reviewed changes

ogre2/src/Ogre2COMVisual.cc Outdated Show resolved Hide resolved

atharva-18 added 3 commits June 25, 2021 15:15

Remove ParentName()

3300dc2

Signed-off-by: Atharva Pusalkar <[email protected]>

Add SphereRadius method

360086d

Signed-off-by: Atharva Pusalkar <[email protected]>

Add function doc

59afa12

Signed-off-by: Atharva Pusalkar <[email protected]>

scpeters reviewed Jun 25, 2021

View reviewed changes

Rename to densityLead

aee5617

Signed-off-by: Atharva Pusalkar <[email protected]>

ahcorde requested review from iche033 and scpeters June 28, 2021 13:45

iche033 approved these changes Jun 28, 2021

View reviewed changes

ahcorde merged commit ac1ab2c into gazebosim:main Jun 29, 2021

scpeters mentioned this pull request Jul 1, 2021

Install shared media folder in -core-dev gazebo-release/gz-rendering6-release#1

Merged

ahcorde mentioned this pull request Jul 5, 2021

Visualize center of mass gazebosim/gz-sim#110

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Center of mass visual #345

Center of mass visual #345

atharva-18 commented Jun 17, 2021 •

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atharva-18 commented Jun 17, 2021

codecov bot commented Jun 21, 2021 •

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ahcorde Jun 21, 2021

atharva-18 Jun 21, 2021

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iche033 Jun 23, 2021

atharva-18 Jun 24, 2021

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atharva-18 Jun 25, 2021

scpeters Jun 25, 2021

atharva-18 Jun 25, 2021

osrf-triage commented Sep 1, 2021

Center of mass visual #345

Center of mass visual #345

Conversation

atharva-18 commented Jun 17, 2021 • edited Loading

🎉 New feature

Summary

Test it

Checklist

atharva-18 commented Jun 17, 2021

codecov bot commented Jun 21, 2021 • edited Loading

Codecov Report

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osrf-triage commented Sep 1, 2021

atharva-18 commented Jun 17, 2021 •

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