Merge branch 'sdf12' into ahcorde/sdf_to_usd_visuals

include/sdf/Light.hh

@@ -126,6 +126,14 @@ namespace sdf
     /// \param[in] _cast True to indicate that the light casts shadows.
     public: void SetCastShadows(const bool _cast);
 
+    /// \brief Get if the light is on
+    /// \return True if the light is on.
+    public: bool LightOn() const;
+
+    /// \brief Set if the light is ON/OFF
+    /// \param[in] _cast True to indicate that the light is on, False otherwise.
+    public: void SetLightOn(const bool _isLightOn);
+
     /// \brief Get the light intensity
     /// \return The light intensity
     public: double Intensity() const;

include/sdf/Model.hh

@@ -428,6 +428,18 @@ namespace sdf
     /// \return SDF element pointer with updated model values.
     public: sdf::ElementPtr ToElement(bool _useIncludeTag = true) const;
 
+    /// \brief Check if a given name exists in the FrameAttachedTo graph at the
+    /// scope of the model.
+    /// \param[in] _name Name of the implicit or explicit frame to check.
+    /// To check for a frame in a nested model, prefix the frame name with
+    /// the sequence of nested models containing this frame, delimited by "::".
+    /// \return True if the frame name is found in the FrameAttachedTo graph.
+    /// False otherwise, or if the frame graph is invalid.
+    /// \note This function assumes the model has a valid FrameAttachedTo graph.
+    /// It will return false if the graph is invalid.
+    public: bool NameExistsInFrameAttachedToGraph(
+                const std::string &_name) const;
+
     /// \brief Add a link to the model.
     /// \param[in] _link Link to add.
     /// \return True if successful, false if a link with the name already

sdf/1.8/light.sdf

@@ -14,6 +14,10 @@
     <description>When true, the light will cast shadows.</description>
   </element>
 
+  <element name="light_on" type="bool" default="true" required="0">
+    <description>When true, the light is on.</description>
+  </element>
+
   <element name="intensity" type="double" default="1" required="0">
     <description>Scale factor to set the relative power of a light.</description>
   </element>

sdf/1.9/light.sdf

@@ -14,6 +14,10 @@
     <description>When true, the light will cast shadows.</description>
   </element>
 
+  <element name="light_on" type="bool" default="true" required="0">
+    <description>When true, the light is on.</description>
+  </element>
+
   <element name="intensity" type="double" default="1" required="0">
     <description>Scale factor to set the relative power of a light.</description>
   </element>

src/Light.cc

@@ -84,6 +84,9 @@ class sdf::Light::Implementation
 
   /// \brief Spot light falloff.
   public: double spotFalloff = 0.0;
+
+  /// \brief Is light on ?
+  public: bool isLightOn = true;
 };
 
 /////////////////////////////////////////////////
@@ -142,6 +145,9 @@ Errors Light::Load(ElementPtr _sdf)
   // Load the pose. Ignore the return value since the light pose is optional.
   loadPose(_sdf, this->dataPtr->pose, this->dataPtr->poseRelativeTo);
 
+  this->dataPtr->isLightOn = _sdf->Get<bool>("light_on",
+      this->dataPtr->isLightOn).first;
+
   this->dataPtr->castShadows = _sdf->Get<bool>("cast_shadows",
       this->dataPtr->castShadows).first;
 
@@ -317,6 +323,18 @@ void Light::SetCastShadows(const bool _cast)
   this->dataPtr->castShadows = _cast;
 }
 
+/////////////////////////////////////////////////
+bool Light::LightOn() const
+{
+  return this->dataPtr->isLightOn;
+}
+
+/////////////////////////////////////////////////
+void Light::SetLightOn(const bool _isLightOn)
+{
+  this->dataPtr->isLightOn = _isLightOn;
+}
+
 /////////////////////////////////////////////////
 ignition::math::Color Light::Diffuse() const
 {

src/Light_TEST.cc

@@ -55,6 +55,10 @@ TEST(DOMLight, DefaultConstruction)
     EXPECT_FALSE(semanticPose.Resolve(pose).empty());
   }
 
+  EXPECT_TRUE(light.LightOn());
+  light.SetLightOn(false);
+  EXPECT_FALSE(light.LightOn());
+
   EXPECT_FALSE(light.CastShadows());
   light.SetCastShadows(true);
   EXPECT_TRUE(light.CastShadows());
@@ -113,6 +117,7 @@ TEST(DOMLight, CopyConstructor)
   light.SetRawPose({3, 2, 1, 0, IGN_PI, 0});
   light.SetPoseRelativeTo("ground_plane");
   light.SetCastShadows(true);
+  light.SetLightOn(false);
   light.SetDiffuse(ignition::math::Color(0.4f, 0.5f, 0.6f, 1.0));
   light.SetSpecular(ignition::math::Color(0.8f, 0.9f, 0.1f, 1.0));
   light.SetAttenuationRange(3.2);
@@ -131,6 +136,7 @@ TEST(DOMLight, CopyConstructor)
   EXPECT_EQ(ignition::math::Pose3d(3, 2, 1, 0, IGN_PI, 0), light2.RawPose());
   EXPECT_EQ("ground_plane", light2.PoseRelativeTo());
   EXPECT_TRUE(light2.CastShadows());
+  EXPECT_FALSE(light2.LightOn());
   EXPECT_EQ(ignition::math::Color(0.4f, 0.5f, 0.6f, 1), light2.Diffuse());
   EXPECT_EQ(ignition::math::Color(0.8f, 0.9f, 0.1f, 1), light2.Specular());
   EXPECT_DOUBLE_EQ(3.2, light2.AttenuationRange());
@@ -153,6 +159,7 @@ TEST(DOMLight, CopyAssignmentOperator)
   light.SetRawPose({3, 2, 1, 0, IGN_PI, 0});
   light.SetPoseRelativeTo("ground_plane");
   light.SetCastShadows(true);
+  light.SetLightOn(false);
   light.SetDiffuse(ignition::math::Color(0.4f, 0.5f, 0.6f, 1.0));
   light.SetSpecular(ignition::math::Color(0.8f, 0.9f, 0.1f, 1.0));
   light.SetAttenuationRange(3.2);
@@ -172,6 +179,7 @@ TEST(DOMLight, CopyAssignmentOperator)
   EXPECT_EQ(ignition::math::Pose3d(3, 2, 1, 0, IGN_PI, 0), light2.RawPose());
   EXPECT_EQ("ground_plane", light2.PoseRelativeTo());
   EXPECT_TRUE(light2.CastShadows());
+  EXPECT_FALSE(light2.LightOn());
   EXPECT_EQ(ignition::math::Color(0.4f, 0.5f, 0.6f, 1), light2.Diffuse());
   EXPECT_EQ(ignition::math::Color(0.8f, 0.9f, 0.1f, 1), light2.Specular());
   EXPECT_DOUBLE_EQ(3.2, light2.AttenuationRange());
@@ -194,6 +202,7 @@ TEST(DOMLight, MoveConstructor)
   light.SetRawPose({3, 2, 1, 0, IGN_PI, 0});
   light.SetPoseRelativeTo("ground_plane");
   light.SetCastShadows(true);
+  light.SetLightOn(false);
   light.SetDiffuse(ignition::math::Color(0.4f, 0.5f, 0.6f, 1.0));
   light.SetSpecular(ignition::math::Color(0.8f, 0.9f, 0.1f, 1.0));
   light.SetAttenuationRange(3.2);
@@ -212,6 +221,7 @@ TEST(DOMLight, MoveConstructor)
   EXPECT_EQ(ignition::math::Pose3d(3, 2, 1, 0, IGN_PI, 0), light2.RawPose());
   EXPECT_EQ("ground_plane", light2.PoseRelativeTo());
   EXPECT_TRUE(light2.CastShadows());
+  EXPECT_FALSE(light2.LightOn());
   EXPECT_EQ(ignition::math::Color(0.4f, 0.5f, 0.6f, 1), light2.Diffuse());
   EXPECT_EQ(ignition::math::Color(0.8f, 0.9f, 0.1f, 1), light2.Specular());
   EXPECT_DOUBLE_EQ(3.2, light2.AttenuationRange());
@@ -234,6 +244,7 @@ TEST(DOMLight, MoveAssignment)
   light.SetRawPose({3, 2, 1, 0, IGN_PI, 0});
   light.SetPoseRelativeTo("ground_plane");
   light.SetCastShadows(true);
+  light.SetLightOn(false);
   light.SetDiffuse(ignition::math::Color(0.4f, 0.5f, 0.6f, 1.0));
   light.SetSpecular(ignition::math::Color(0.8f, 0.9f, 0.1f, 1.0));
   light.SetAttenuationRange(3.2);
@@ -253,6 +264,7 @@ TEST(DOMLight, MoveAssignment)
   EXPECT_EQ(ignition::math::Pose3d(3, 2, 1, 0, IGN_PI, 0), light2.RawPose());
   EXPECT_EQ("ground_plane", light2.PoseRelativeTo());
   EXPECT_TRUE(light2.CastShadows());
+  EXPECT_FALSE(light2.LightOn());
   EXPECT_EQ(ignition::math::Color(0.4f, 0.5f, 0.6f, 1), light2.Diffuse());
   EXPECT_EQ(ignition::math::Color(0.8f, 0.9f, 0.1f, 1), light2.Specular());
   EXPECT_DOUBLE_EQ(3.2, light2.AttenuationRange());

src/Model.cc

@@ -1062,3 +1062,13 @@ void Model::ClearFrames()
 {
   this->dataPtr->frames.clear();
 }
+
+/////////////////////////////////////////////////
+bool Model::NameExistsInFrameAttachedToGraph(const std::string &_name) const
+{
+  if (!this->dataPtr->frameAttachedToGraph)
+    return false;
+
+  return this->dataPtr->frameAttachedToGraph.VertexIdByName(sdf::JoinName(
+             this->Name(), _name)) != ignition::math::graph::kNullId;
+}

src/parser.cc

@@ -2549,9 +2549,7 @@ void checkJointParentChildNames(const sdf::Root *_root, Errors &_errors)
       const std::string parentLocalName = sdf::SplitName(parentName).second;
 
       if (parentName != "world" && parentLocalName != "__model__" &&
-          !_model->LinkNameExists(parentName) &&
-          !_model->JointNameExists(parentName) &&
-          !_model->FrameNameExists(parentName))
+          !_model->NameExistsInFrameAttachedToGraph(parentName))
       {
         errors.push_back({ErrorCode::JOINT_PARENT_LINK_INVALID,
           "parent frame with name[" + parentName +
@@ -2568,10 +2566,8 @@ void checkJointParentChildNames(const sdf::Root *_root, Errors &_errors)
           joint->Name() + "] in model with name[" + _model->Name() + "]."});
       }
 
-      if (childLocalName != "__model__" && !_model->LinkNameExists(childName) &&
-          !_model->JointNameExists(childName) &&
-          !_model->FrameNameExists(childName) &&
-          !_model->ModelNameExists(childName))
+      if (childLocalName != "__model__" &&
+          !_model->NameExistsInFrameAttachedToGraph(childName))
       {
         errors.push_back({ErrorCode::JOINT_CHILD_LINK_INVALID,
           "child frame with name[" + childName +

test/integration/interface_api.cc

@@ -1246,3 +1246,35 @@ TEST_F(InterfaceAPIMergeInclude, JointModelChild)
     EXPECT_EQ("base", body);
   }
 }
+
+/////////////////////////////////////////////////
+TEST_F(InterfaceAPI, JointParentOrChildInNestedModel)
+{
+  this->config.RegisterCustomModelParser(customTomlParser);
+
+  const std::string testSdf = R"(
+  <sdf version="1.8">
+    <model name="parent_model">
+      <link name="L1"/>
+
+      <joint name="J1" type="fixed">
+        <parent>L1</parent>
+        <child>double_pendulum::base</child>
+      </joint>
+      <include>
+        <uri>double_pendulum.toml</uri>
+        <name>double_pendulum</name>
+      </include>
+
+      <joint name="J2" type="fixed">
+        <parent>double_pendulum::child_dp::base</parent>
+        <child>L2</child>
+      </joint>
+      <link name="L2"/>
+
+    </model>
+  </sdf>)";
+  sdf::Root root;
+  sdf::Errors errors = root.LoadSdfString(testSdf, this->config);
+  EXPECT_TRUE(errors.empty()) << errors;
+}

test/integration/model_dom.cc

@@ -309,6 +309,23 @@ TEST(DOMRoot, MultiNestedModel)
   EXPECT_EQ(innerModel->FrameByIndex(0),
             outerModel->FrameByName(innerFrameNestedName));
   EXPECT_NE(nullptr, outerModel->FrameByName(innerFrameNestedName));
+
+
+  // Check that each implicit/explicit frame is in the frame attached to graph
+  EXPECT_TRUE(outerModel->NameExistsInFrameAttachedToGraph("outer_link"));
+  EXPECT_TRUE(outerModel->NameExistsInFrameAttachedToGraph("outer_joint"));
+  EXPECT_TRUE(outerModel->NameExistsInFrameAttachedToGraph("outer_frame"));
+  EXPECT_TRUE(outerModel->NameExistsInFrameAttachedToGraph("mid_model"));
+
+  // Check that mid_link does not exist directly under outer_model, but can be
+  // accessed via its scoped name
+  EXPECT_FALSE(outerModel->NameExistsInFrameAttachedToGraph("mid_link"));
+  EXPECT_TRUE(
+      outerModel->NameExistsInFrameAttachedToGraph("mid_model::mid_link"));
+
+  // Check multiple levels of nesting
+  EXPECT_TRUE(outerModel->NameExistsInFrameAttachedToGraph(
+      "mid_model::inner_model::inner_joint"));
 }
 
 /////////////////////////////////////////////////