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Bumps in garden: use ign-common5, ign-math7 #525

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merged 2 commits into from
Dec 29, 2021
Merged

Bumps in garden: use ign-common5, ign-math7 #525

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713fcb8
Bumps in garden : ci_matching_branch/bump_garden_ign-rendering7
chapulina Dec 27, 2021
7ebaf46
Address upstream deprecations
chapulina Dec 27, 2021
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6 changes: 3 additions & 3 deletions .github/ci/packages.apt
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Expand Up @@ -2,9 +2,9 @@ freeglut3-dev
libfreeimage-dev
libglew-dev
libignition-cmake2-dev
libignition-common4-dev
libignition-math6-dev
libignition-math6-eigen3-dev
libignition-common5-dev
libignition-math7-dev
libignition-math7-eigen3-dev
libignition-plugin-dev
libignition-utils1-dev
libogre-1.9-dev
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8 changes: 4 additions & 4 deletions CMakeLists.txt
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Expand Up @@ -30,14 +30,14 @@ option(USE_UNOFFICIAL_OGRE_VERSIONS "Accept unsupported Ogre versions in the bui

#--------------------------------------
# Find ignition-math
ign_find_package(ignition-math6 REQUIRED COMPONENTS eigen3 VERSION 6.9)
set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
ign_find_package(ignition-math7 REQUIRED COMPONENTS eigen3)
set(IGN_MATH_VER ${ignition-math7_VERSION_MAJOR})

#--------------------------------------
# Find ignition-common
ign_find_package(ignition-common4 REQUIRED
ign_find_package(ignition-common5 REQUIRED
COMPONENTS graphics events)
set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
set(IGN_COMMON_VER ${ignition-common5_VERSION_MAJOR})

#--------------------------------------
# Find ignition-plugin
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2 changes: 1 addition & 1 deletion examples/depth_camera/CMakeLists.txt
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@@ -1,6 +1,6 @@
cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
project(ignition-rendering-depth-camera)
find_package(ignition-rendering6 REQUIRED)
find_package(ignition-rendering7 REQUIRED)

include_directories(SYSTEM
${PROJECT_BINARY_DIR}
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1 change: 0 additions & 1 deletion include/ignition/rendering/LidarVisual.hh
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Expand Up @@ -18,7 +18,6 @@
#define IGNITION_RENDERING_LIDARVISUAL_HH_

#include <vector>
#include <ignition/common/Time.hh>
#include <ignition/math/Color.hh>
#include <ignition/math/Vector3.hh>
#include "ignition/rendering/config.hh"
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1 change: 0 additions & 1 deletion include/ignition/rendering/Marker.hh
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Expand Up @@ -17,7 +17,6 @@
#ifndef IGNITION_RENDERING_MARKER_HH_
#define IGNITION_RENDERING_MARKER_HH_

#include <ignition/common/Time.hh>
#include <ignition/math/Color.hh>
#include <ignition/math/Vector3.hh>
#include "ignition/rendering/config.hh"
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10 changes: 0 additions & 10 deletions include/ignition/rendering/Scene.hh
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Expand Up @@ -23,7 +23,6 @@

#include <ignition/common/Material.hh>
#include <ignition/common/Mesh.hh>
#include <ignition/common/Time.hh>

#include <ignition/math/Color.hh>

Expand Down Expand Up @@ -76,20 +75,11 @@ namespace ignition
/// \return The creating render-engine
public: virtual RenderEngine *Engine() const = 0;

/// \brief Get the last simulation update time
/// \return The last simulation update time
public: virtual common::Time IGN_DEPRECATED(4) SimTime() const = 0;

/// \brief Get the last simulation update time
/// \return The last simulation update time
public: virtual std::chrono::steady_clock::duration
Time() const = 0;

/// \brief Set the last simulation update time
/// \param[in] _time Latest simulation update time
public: virtual void IGN_DEPRECATED(4)
SetSimTime(const common::Time &_time) = 0;

/// \brief Set the last simulation update time
/// \param[in] _time Latest simulation update time
public: virtual void SetTime(
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2 changes: 1 addition & 1 deletion include/ignition/rendering/base/BaseCamera.hh
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Expand Up @@ -473,7 +473,7 @@ namespace ignition
void BaseCamera<T>::Reset()
{
math::Angle fov;
fov.Degree(60);
fov.SetDegree(60);
this->SetImageWidth(1);
this->SetImageHeight(1);
this->SetImageFormat(PF_R8G8B8);
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4 changes: 2 additions & 2 deletions include/ignition/rendering/base/BaseJointVisual.hh
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Expand Up @@ -394,9 +394,9 @@ namespace ignition
ignition::math::Quaterniond quat;
// check the parallel case
if (ignition::math::equal(angle, IGN_PI))
quat.Axis(u.Perpendicular(), angle);
quat.SetFromAxisAngle(u.Perpendicular(), angle);
else
quat.Axis((v.Cross(u)).Normalize(), angle);
quat.SetFromAxisAngle((v.Cross(u)).Normalize(), angle);
_arrowVisual->SetLocalRotation(quat);

if (_useParentFrame)
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7 changes: 0 additions & 7 deletions include/ignition/rendering/base/BaseScene.hh
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Expand Up @@ -58,11 +58,6 @@ namespace ignition

public: virtual std::string Name() const override;

public: virtual void IGN_DEPRECATED(4)
SetSimTime(const common::Time &_time) override;

public: virtual common::Time IGN_DEPRECATED(4) SimTime() const override;

public: virtual std::chrono::steady_clock::duration Time()
const override;

Expand Down Expand Up @@ -858,8 +853,6 @@ namespace ignition
protected: std::string name;
IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING

protected: common::Time IGN_DEPRECATED(4) simTime;

protected: std::chrono::steady_clock::duration time =
std::chrono::steady_clock::duration::zero();

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4 changes: 2 additions & 2 deletions src/OrbitViewController.cc
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Expand Up @@ -163,14 +163,14 @@ void OrbitViewController::Orbit(const math::Vector2d &_value)

// rotate around world axis at target point
math::Quaterniond yawQuat;
yawQuat.Axis(math::Vector3d::UnitZ, -dy);
yawQuat.SetFromAxisAngle(math::Vector3d::UnitZ, -dy);
this->dataPtr->camera->SetWorldRotation(
yawQuat * this->dataPtr->camera->WorldRotation());
this->dataPtr->camera->SetWorldPosition(
yawQuat * this->dataPtr->camera->WorldPosition());

math::Quaterniond localPitchQuat;
localPitchQuat.Axis(
localPitchQuat.SetFromAxisAngle(
this->dataPtr->camera->WorldRotation()*math::Vector3d::UnitY, dp);
this->dataPtr->camera->SetWorldRotation(
localPitchQuat * this->dataPtr->camera->WorldRotation());
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4 changes: 2 additions & 2 deletions src/OrthoViewController.cc
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Expand Up @@ -237,14 +237,14 @@ void OrthoViewController::Orbit(const math::Vector2d &_value)

// rotate around world axis at target point
math::Quaterniond yawQuat;
yawQuat.Axis(math::Vector3d::UnitZ, -dy);
yawQuat.SetFromAxisAngle(math::Vector3d::UnitZ, -dy);
this->dataPtr->camera->SetWorldRotation(
yawQuat * this->dataPtr->camera->WorldRotation());
this->dataPtr->camera->SetWorldPosition(
yawQuat * this->dataPtr->camera->WorldPosition());

math::Quaterniond localPitchQuat;
localPitchQuat.Axis(
localPitchQuat.SetFromAxisAngle(
this->dataPtr->camera->WorldRotation()*math::Vector3d::UnitY, dp);
this->dataPtr->camera->SetWorldRotation(
localPitchQuat * this->dataPtr->camera->WorldRotation());
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4 changes: 2 additions & 2 deletions src/TransformController.cc
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Expand Up @@ -548,9 +548,9 @@ void TransformController::Rotate(const math::Quaterniond &_rotation, bool _snap)
{
math::Vector3d axis;
double angle;
rotation.ToAxis(axis, angle);
rotation.AxisAngle(axis, angle);
angle = rint(angle / (IGN_PI * 0.25)) * (IGN_PI * 0.25);
rotation.Axis(axis, angle);
rotation.SetFromAxisAngle(axis, angle);
}

this->dataPtr->node->SetWorldRotation(rotation);
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29 changes: 0 additions & 29 deletions src/base/BaseScene.cc
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Expand Up @@ -23,8 +23,6 @@
#include <ignition/common/Mesh.hh>
#include <ignition/common/MeshManager.hh>

#include "ignition/common/Time.hh"

#include "ignition/rendering/ArrowVisual.hh"
#include "ignition/rendering/AxisVisual.hh"
#include "ignition/rendering/BoundingBoxCamera.hh"
Expand Down Expand Up @@ -53,11 +51,6 @@
using namespace ignition;
using namespace rendering;

// Prevent deprecation warnings for simTime
#ifndef _WIN32
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
//////////////////////////////////////////////////
BaseScene::BaseScene(unsigned int _id, const std::string &_name) :
id(_id),
Expand All @@ -73,9 +66,6 @@ BaseScene::BaseScene(unsigned int _id, const std::string &_name) :
BaseScene::~BaseScene()
{
}
#ifndef _WIN32
# pragma GCC diagnostic pop
#endif

//////////////////////////////////////////////////
void BaseScene::Load()
Expand Down Expand Up @@ -145,25 +135,6 @@ void BaseScene::SetTime(const std::chrono::steady_clock::duration &_time)
this->time = _time;
}

//////////////////////////////////////////////////
#ifndef _WIN32
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
common::Time BaseScene::SimTime() const
{
return this->simTime;
}

////////////////////////////////////////////////////
void BaseScene::SetSimTime(const common::Time &_time)
{
this->simTime = _time;
}
#ifndef _WIN32
# pragma GCC diagnostic pop
#endif

//////////////////////////////////////////////////
VisualPtr BaseScene::VisualAt(const CameraPtr &_camera,
const ignition::math::Vector2i &_mousePos)
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4 changes: 2 additions & 2 deletions tutorials/02_install.md
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Expand Up @@ -59,8 +59,8 @@ sudo apt install -y \
libxmu-dev \
libxi-dev \
libignition-cmake2-dev \
libignition-math6-dev \
libignition-common4-dev \
libignition-math7-dev \
libignition-common5-dev \
libignition-plugin-dev
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 800 --slave /usr/bin/g++ g++ /usr/bin/g++-8 --slave /usr/bin/gcov gcov /usr/bin/gcov-8
```
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2 changes: 1 addition & 1 deletion tutorials/23_depth_camera_tutorial.md
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Expand Up @@ -63,7 +63,7 @@ depth camera to a memory reserved in a globally scoped `Image`.

\snippet examples/depth_camera/GlutWindow.cc convert depth to image

The other option is the [ConnectNewRgbPointCloud](https://github.com/ignitionrobotics/ign-rendering/blob/ign-rendering6/include/ignition/rendering/DepthCamera.hh#L58) call that receives colored point cloud data on callback.
The other option is the [ConnectNewRgbPointCloud](https://github.com/ignitionrobotics/ign-rendering/blob/ign-rendering7/include/ignition/rendering/DepthCamera.hh#L58) call that receives colored point cloud data on callback.
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this link does not exist yet. I forget what is the preferred approach for branch names in tutorial code links

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We have a mix right now. It's not too bad to have broken links on main because the tutorials aren't published anywhere yet. I don't have a strong preference, but it would be nice to be consistent across all libraries


The reason for setting the camera image format to `PixelFormat::PF_FLOAT32_RGBA`
is to ensure that when the `Image` is created it reserves a buffer of the
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