From 813f06e05172e614de7b2923bb06dc193ba24fbb Mon Sep 17 00:00:00 2001 From: methylDragon Date: Mon, 11 Jul 2022 15:50:56 -0700 Subject: [PATCH] Partial source and cmake migrations (#1078) Signed-off-by: methylDragon --- .github/ci/packages.apt | 12 +++++------ .github/workflows/ci.yml | 4 ++-- .github/workflows/macos.yml | 4 ++-- .github/workflows/pr-collection-labeler.yml | 2 +- CMakeLists.txt | 12 +++++------ Changelog.md | 6 +++--- README.md | 2 +- conf/CMakeLists.txt | 2 +- configure.bat | 24 --------------------- include/sdf/Box.hh | 4 ++-- include/sdf/CMakeLists.txt | 2 +- include/sdf/Capsule.hh | 4 ++-- include/sdf/Cylinder.hh | 4 ++-- include/sdf/Ellipsoid.hh | 4 ++-- include/sdf/Plane.hh | 4 ++-- include/sdf/Sphere.hh | 4 ++-- python/CMakeLists.txt | 10 ++++----- python/test/pyAirPressure_TEST.py | 2 +- python/test/pyAltimeter_TEST.py | 2 +- python/test/pyAtmosphere_TEST.py | 2 +- python/test/pyBox_TEST.py | 2 +- python/test/pyCamera_TEST.py | 2 +- python/test/pyCapsule_TEST.py | 2 +- python/test/pyCollision_TEST.py | 2 +- python/test/pyCylinder_TEST.py | 2 +- python/test/pyEllipsoid_TEST.py | 2 +- python/test/pyFrame_TEST.py | 2 +- python/test/pyGeometry_TEST.py | 2 +- python/test/pyHeightmap_TEST.py | 2 +- python/test/pyIMU_TEST.py | 2 +- python/test/pyJointAxis_TEST.py | 2 +- python/test/pyJoint_TEST.py | 2 +- python/test/pyLidar_TEST.py | 2 +- python/test/pyLight_TEST.py | 2 +- python/test/pyLink_TEST.py | 2 +- python/test/pyMagnetometer_TEST.py | 2 +- python/test/pyMaterial_TEST.py | 2 +- python/test/pyMesh_TEST.py | 2 +- python/test/pyModel_TEST.py | 2 +- python/test/pyParticleEmitter_TEST.py | 2 +- python/test/pyPlane_TEST.py | 2 +- python/test/pyRoot_TEST.py | 2 +- python/test/pyScene_TEST.py | 2 +- python/test/pySemanticPose_TEST.py | 2 +- python/test/pySensor_TEST.py | 2 +- python/test/pySky_TEST.py | 2 +- python/test/pySphere_TEST.py | 2 +- python/test/pySurface_TEST.py | 2 +- python/test/pyVisual_TEST.py | 2 +- python/test/pyWorld_TEST.py | 2 +- src/FrameSemantics.cc | 2 +- src/Plugin_TEST.cc | 6 +++--- src/Utils.hh | 2 +- src/gz.hh | 4 ++-- 54 files changed, 80 insertions(+), 104 deletions(-) delete mode 100644 configure.bat diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt index be7862ca8..8f4068102 100644 --- a/.github/ci/packages.apt +++ b/.github/ci/packages.apt @@ -1,9 +1,9 @@ -libignition-cmake3-dev -libignition-common5-dev -libignition-math7-dev -libignition-tools2-dev -libignition-utils2-dev -libignition-utils2-cli-dev +libgz-cmake3-dev +libgz-common5-dev +libgz-math7-dev +libgz-tools2-dev +libgz-utils2-dev +libgz-utils2-cli-dev libtinyxml2-dev liburdfdom-dev libxml2-utils diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 164a62cd8..e0bcc1f2a 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -16,7 +16,7 @@ jobs: uses: actions/checkout@v2 - name: Compile and test id: ci - uses: ignition-tooling/action-ignition-ci@focal + uses: gazebo-tooling/action-gz-ci@focal with: codecov-enabled: true cppcheck-enabled: true @@ -29,4 +29,4 @@ jobs: uses: actions/checkout@v2 - name: Compile and test id: ci - uses: ignition-tooling/action-ignition-ci@jammy + uses: gazebo-tooling/action-gz-ci@jammy diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml index a8dac0422..36c362329 100644 --- a/.github/workflows/macos.yml +++ b/.github/workflows/macos.yml @@ -21,7 +21,7 @@ jobs: brew tap osrf/simulation; # check for ci_matching_branch brew install wget - wget https://github.com/ignition-tooling/release-tools/raw/master/jenkins-scripts/tools/detect_ci_matching_branch.py + wget https://github.com/gazebo-tooling/release-tools/raw/master/jenkins-scripts/tools/detect_ci_matching_branch.py TRY_BRANCH="${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" if python3 detect_ci_matching_branch.py ${TRY_BRANCH} then @@ -32,7 +32,7 @@ jobs: popd echo '# END SECTION' fi - # ignition-math7 has problems with swig, remove it for now + # gz-math7 has problems with swig, remove it for now brew remove swig || true brew install --only-dependencies ${PACKAGE}; diff --git a/.github/workflows/pr-collection-labeler.yml b/.github/workflows/pr-collection-labeler.yml index 7d7b4e179..38c4fc13b 100644 --- a/.github/workflows/pr-collection-labeler.yml +++ b/.github/workflows/pr-collection-labeler.yml @@ -8,6 +8,6 @@ jobs: steps: - name: Add collection labels if: github.event.action == 'opened' - uses: ignition-tooling/pr-collection-labeler@v1 + uses: gazebo-tooling/pr-collection-labeler@v1 with: github-token: ${{ secrets.GITHUB_TOKEN }} diff --git a/CMakeLists.txt b/CMakeLists.txt index 9e633d546..0576df387 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -36,8 +36,8 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON) if (BUILD_SDF) gz_configure_project( - NO_IGNITION_PREFIX - REPLACE_IGNITION_INCLUDE_PATH sdf + NO_PROJECT_PREFIX + REPLACE_INCLUDE_PATH sdf VERSION_SUFFIX pre1) ################################################# @@ -72,7 +72,7 @@ if (BUILD_SDF) ################################################# # Copied from catkin/cmake/empy.cmake - include(IgnPython) + include(GzPython) function(find_python_module module) # cribbed from http://www.cmake.org/pipermail/cmake/2011-January/041666.html string(TOUPPER ${module} module_upper) @@ -130,7 +130,7 @@ if (BUILD_SDF) ######################################## # Python interfaces if (NOT PYTHON3_FOUND) - IGN_BUILD_WARNING("Python is missing: Python interfaces are disabled.") + GZ_BUILD_WARNING("Python is missing: Python interfaces are disabled.") message (STATUS "Searching for Python - not found.") else() message (STATUS "Searching for Python - found version ${Python3_VERSION}.") @@ -139,10 +139,10 @@ if (BUILD_SDF) find_package(pybind11 2.4 QUIET) if (${pybind11_FOUND}) - find_package(Python3 ${IGN_PYTHON_VERSION} REQUIRED COMPONENTS Development) + find_package(Python3 ${GZ_PYTHON_VERSION} REQUIRED COMPONENTS Development) message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.") else() - IGN_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.") + GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.") message (STATUS "Searching for pybind11 - not found.") endif() endif() diff --git a/Changelog.md b/Changelog.md index edd6d1308..7133ac891 100644 --- a/Changelog.md +++ b/Changelog.md @@ -631,7 +631,7 @@ 1. Add EnforcementPolicy in ParserConfig to configure parsing strictness. * [Pull request 481](https://github.com/osrf/sdformat/pull/481) -1. Use `ImplPtr` / `UniqueImplPtr` from ignition-utils +1. Use `ImplPtr` / `UniqueImplPtr` from gz-utils * [Pull request 472](https://github.com/osrf/sdformat/pull/472) * [Pull request 474](https://github.com/osrf/sdformat/pull/474) @@ -979,7 +979,7 @@ 1. Add cmake option to disable console logfile. * [Pull request 348](https://github.com/osrf/sdformat/pull/348) -1. CMake fixes: include CMakePackageConfigHelpers and use modern cmake target for ignition math. +1. CMake fixes: include CMakePackageConfigHelpers and use modern cmake target for gz math. * [Pull request 358](https://github.com/osrf/sdformat/pull/358) 1. Cmake: add tinyxml2 to Config names. @@ -1156,7 +1156,7 @@ 1. Add camera type aliases to docs. * [Pull request #514](https://github.com/gazebosim/sdformat/pull/514) -1. Add action-ignition-ci +1. Add action-gz-ci * [Pull request #501](https://github.com/gazebosim/sdformat/pull/452) ### libsdformat 9.5.0 (2021-02-11) diff --git a/README.md b/README.md index ecdafce12..b881112c2 100644 --- a/README.md +++ b/README.md @@ -202,7 +202,7 @@ conda search libsdformat --channel conda-forge --info Install dependencies, replacing `<#>` with the desired versions: ``` -conda install libignition-math<#> libignition-tools<#> --channel conda-forge +conda install libgz-math<#> libgz-tools<#> --channel conda-forge ``` ### Build from Source diff --git a/conf/CMakeLists.txt b/conf/CMakeLists.txt index 186ac0a82..e42216a9f 100644 --- a/conf/CMakeLists.txt +++ b/conf/CMakeLists.txt @@ -20,4 +20,4 @@ configure_file( # Install the yaml configuration files in an unversioned location. install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.yaml - DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/ignition/) + DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gz/) diff --git a/configure.bat b/configure.bat deleted file mode 100644 index 92b2bbad4..000000000 --- a/configure.bat +++ /dev/null @@ -1,24 +0,0 @@ - -:: NOTE: This script is only meant to be used as part of the ignition developers' CI system -:: Users and developers should build and install this library using cmake and Visual Studio - - -:: Install dependencies -call %win_lib% :install_ign_project ign-math main - -:: Set configuration variables -@set build_type=Release -@if not "%1"=="" set build_type=%1 -@echo Configuring for build type %build_type% - -:: Go to the directory that this configure.bat file exists in -cd /d %~dp0 - -:: Create a build directory and configure -md build -cd build -cmake .. -G "NMake Makefiles" -DCMAKE_INSTALL_PREFIX="%WORKSPACE_INSTALL_DIR%" -DCMAKE_BUILD_TYPE="%build_type%" -DBUILD_TESTING:BOOL=False -:: Note: We disable testing by default. If the intention is for the CI to build and test -:: this project, then the CI script will turn it back on. - -:: If the caller wants to build and/or install, they should do so after calling this script diff --git a/include/sdf/Box.hh b/include/sdf/Box.hh index 3aefc3a73..44e4963c9 100644 --- a/include/sdf/Box.hh +++ b/include/sdf/Box.hh @@ -58,11 +58,11 @@ namespace sdf public: sdf::ElementPtr Element() const; /// \brief Get the Gazebo Math representation of this Box. - /// \return A const reference to an gz::math::Boxd object. + /// \return A const reference to a gz::math::Boxd object. public: const gz::math::Boxd &Shape() const; /// \brief Get a mutable Gazebo Math representation of this Box. - /// \return A reference to an gz::math::Boxd object. + /// \return A reference to a gz::math::Boxd object. public: gz::math::Boxd &Shape(); /// \brief Create and return an SDF element filled with data from this diff --git a/include/sdf/CMakeLists.txt b/include/sdf/CMakeLists.txt index b17336d92..ba8cd8cbe 100644 --- a/include/sdf/CMakeLists.txt +++ b/include/sdf/CMakeLists.txt @@ -4,5 +4,5 @@ install( FILES sdf.hh sdf_config.h - DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL}/${PROJECT_INCLUDE_DIR} + DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL}/${PROJECT_INCLUDE_DIR} ) diff --git a/include/sdf/Capsule.hh b/include/sdf/Capsule.hh index 5b27685a8..472fc0f89 100644 --- a/include/sdf/Capsule.hh +++ b/include/sdf/Capsule.hh @@ -65,11 +65,11 @@ namespace sdf public: sdf::ElementPtr Element() const; /// \brief Get the Gazebo Math representation of this Capsule. - /// \return A const reference to an gz::math::Sphered object. + /// \return A const reference to a gz::math::Sphered object. public: const gz::math::Capsuled &Shape() const; /// \brief Get a mutable Gazebo Math representation of this Capsule. - /// \return A reference to an gz::math::Capsuled object. + /// \return A reference to a gz::math::Capsuled object. public: gz::math::Capsuled &Shape(); /// \brief Create and return an SDF element filled with data from this diff --git a/include/sdf/Cylinder.hh b/include/sdf/Cylinder.hh index 3ca2ad3e8..65b5ee517 100644 --- a/include/sdf/Cylinder.hh +++ b/include/sdf/Cylinder.hh @@ -65,11 +65,11 @@ namespace sdf public: sdf::ElementPtr Element() const; /// \brief Get the Gazebo Math representation of this Cylinder. - /// \return A const reference to an gz::math::Sphered object. + /// \return A const reference to a gz::math::Sphered object. public: const gz::math::Cylinderd &Shape() const; /// \brief Get a mutable Gazebo Math representation of this Cylinder. - /// \return A reference to an gz::math::Cylinderd object. + /// \return A reference to a gz::math::Cylinderd object. public: gz::math::Cylinderd &Shape(); /// \brief Create and return an SDF element filled with data from this diff --git a/include/sdf/Ellipsoid.hh b/include/sdf/Ellipsoid.hh index 10faa4cf8..a4cecef32 100644 --- a/include/sdf/Ellipsoid.hh +++ b/include/sdf/Ellipsoid.hh @@ -57,11 +57,11 @@ namespace sdf public: sdf::ElementPtr Element() const; /// \brief Get the Gazebo Math representation of this Ellipsoid. - /// \return A const reference to an gz::math::Ellipsoidd object. + /// \return A const reference to a gz::math::Ellipsoidd object. public: const gz::math::Ellipsoidd &Shape() const; /// \brief Get a mutable Gazebo Math representation of this Ellipsoid. - /// \return A reference to an gz::math::Ellipsoidd object. + /// \return A reference to a gz::math::Ellipsoidd object. public: gz::math::Ellipsoidd &Shape(); /// \brief Create and return an SDF element filled with data from this diff --git a/include/sdf/Plane.hh b/include/sdf/Plane.hh index f01f2f41e..59024fe45 100644 --- a/include/sdf/Plane.hh +++ b/include/sdf/Plane.hh @@ -73,11 +73,11 @@ namespace sdf public: sdf::ElementPtr Element() const; /// \brief Get the Gazebo Math representation of this Plane. - /// \return A const reference to an gz::math::Planed object. + /// \return A const reference to a gz::math::Planed object. public: const gz::math::Planed &Shape() const; /// \brief Get a mutable Gazebo Math representation of this Plane. - /// \return A reference to an gz::math::Planed object. + /// \return A reference to a gz::math::Planed object. public: gz::math::Planed &Shape(); /// \brief Create and return an SDF element filled with data from this diff --git a/include/sdf/Sphere.hh b/include/sdf/Sphere.hh index e5948e515..3a103834d 100644 --- a/include/sdf/Sphere.hh +++ b/include/sdf/Sphere.hh @@ -52,11 +52,11 @@ namespace sdf public: void SetRadius(const double _radius); /// \brief Get the Gazebo Math representation of this Sphere. - /// \return A const reference to an gz::math::Sphered object. + /// \return A const reference to a gz::math::Sphered object. public: const gz::math::Sphered &Shape() const; /// \brief Get a mutable Gazebo Math representation of this Sphere. - /// \return A reference to an gz::math::Sphered object. + /// \return A reference to a gz::math::Sphered object. public: gz::math::Sphered &Shape(); /// \brief Get a pointer to the SDF element that was used during diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 1c2ef04e0..9711c3115 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -21,23 +21,23 @@ if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION) endif() if(USE_DIST_PACKAGES_FOR_PYTHON) - string(REPLACE "site-packages" "dist-packages" IGN_PYTHON_INSTALL_PATH ${Python3_SITEARCH}) + string(REPLACE "site-packages" "dist-packages" GZ_PYTHON_INSTALL_PATH ${Python3_SITEARCH}) endif() else() # If not a system installation, respect local paths - set(IGN_PYTHON_INSTALL_PATH ${IGN_LIB_INSTALL_DIR}/python) + set(GZ_PYTHON_INSTALL_PATH ${GZ_LIB_INSTALL_DIR}/python) endif() # Set the build location and install location for a CPython extension function(configure_build_install_location _library_name) # Install library for actual use install(TARGETS ${_library_name} - DESTINATION "${IGN_PYTHON_INSTALL_PATH}" + DESTINATION "${GZ_PYTHON_INSTALL_PATH}" ) endfunction() pybind11_add_module(sdformat SHARED - src/sdf/_ignition_sdformat_pybind11.cc + src/sdf/_gz_sdformat_pybind11.cc src/sdf/pyAirPressure.cc src/sdf/pyAltimeter.cc src/sdf/pyAtmosphere.cc @@ -91,7 +91,7 @@ configure_build_install_location(sdformat) if (BUILD_TESTING) pybind11_add_module(sdformattest SHARED - test/_ignition_sdformattest_pybind11.cc + test/_gz_sdformattest_pybind11.cc ) target_link_libraries(sdformattest PRIVATE diff --git a/python/test/pyAirPressure_TEST.py b/python/test/pyAirPressure_TEST.py index ba8cdf6f6..0b294ade5 100644 --- a/python/test/pyAirPressure_TEST.py +++ b/python/test/pyAirPressure_TEST.py @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -from ignition.math import Vector3d +from gz.math import Vector3d from sdformat import AirPressure, Noise import sdformat as sdf import unittest diff --git a/python/test/pyAltimeter_TEST.py b/python/test/pyAltimeter_TEST.py index e5f345df0..ff9b9498c 100644 --- a/python/test/pyAltimeter_TEST.py +++ b/python/test/pyAltimeter_TEST.py @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -from ignition.math import Vector3d +from gz.math import Vector3d from sdformat import Altimeter, Noise import sdformat as sdf import unittest diff --git a/python/test/pyAtmosphere_TEST.py b/python/test/pyAtmosphere_TEST.py index 3fc2b50d8..e5162159b 100644 --- a/python/test/pyAtmosphere_TEST.py +++ b/python/test/pyAtmosphere_TEST.py @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -from ignition.math import Pose3d, Temperature +from gz.math import Pose3d, Temperature from sdformat import Atmosphere import sdformat as sdf import unittest diff --git a/python/test/pyBox_TEST.py b/python/test/pyBox_TEST.py index a305f88a0..4eac4f2b7 100644 --- a/python/test/pyBox_TEST.py +++ b/python/test/pyBox_TEST.py @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -from ignition.math import Vector3d +from gz.math import Vector3d from sdformat import Box import unittest diff --git a/python/test/pyCamera_TEST.py b/python/test/pyCamera_TEST.py index dea7e9556..e3ec95261 100644 --- a/python/test/pyCamera_TEST.py +++ b/python/test/pyCamera_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Angle, Pose3d, Vector2d +from gz.math import Angle, Pose3d, Vector2d import math from sdformat import Camera import sdformat as sdf diff --git a/python/test/pyCapsule_TEST.py b/python/test/pyCapsule_TEST.py index 31a37a18e..1e375dd6e 100644 --- a/python/test/pyCapsule_TEST.py +++ b/python/test/pyCapsule_TEST.py @@ -14,7 +14,7 @@ import copy -from ignition.math import Vector3d, Capsuled +from gz.math import Vector3d, Capsuled import math diff --git a/python/test/pyCollision_TEST.py b/python/test/pyCollision_TEST.py index d51211308..fbb6d5d82 100644 --- a/python/test/pyCollision_TEST.py +++ b/python/test/pyCollision_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Pose3d +from gz.math import Pose3d from sdformat import (Box, Collision, Contact, Cylinder, Error, Geometry, Plane, Surface, Sphere, SDFErrorsException) import sdformat as sdf diff --git a/python/test/pyCylinder_TEST.py b/python/test/pyCylinder_TEST.py index 7d56961cc..7294abb54 100644 --- a/python/test/pyCylinder_TEST.py +++ b/python/test/pyCylinder_TEST.py @@ -14,7 +14,7 @@ import copy -from ignition.math import Vector3d +from gz.math import Vector3d import math diff --git a/python/test/pyEllipsoid_TEST.py b/python/test/pyEllipsoid_TEST.py index 31726d6d3..c77105f7d 100644 --- a/python/test/pyEllipsoid_TEST.py +++ b/python/test/pyEllipsoid_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Vector3d, Ellipsoidd +from gz.math import Vector3d, Ellipsoidd import math from sdformat import Ellipsoid import unittest diff --git a/python/test/pyFrame_TEST.py b/python/test/pyFrame_TEST.py index 3f7e1bc55..bf0dcb9e7 100644 --- a/python/test/pyFrame_TEST.py +++ b/python/test/pyFrame_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Pose3d +from gz.math import Pose3d from sdformat import Frame, Error, SDFErrorsException, ErrorCode import unittest import math diff --git a/python/test/pyGeometry_TEST.py b/python/test/pyGeometry_TEST.py index eaaf706da..dcee570fb 100644 --- a/python/test/pyGeometry_TEST.py +++ b/python/test/pyGeometry_TEST.py @@ -14,7 +14,7 @@ import copy from sdformat import Geometry, Box, Capsule, Cylinder, Ellipsoid, Mesh, Plane, Sphere -from ignition.math import Vector3d, Vector2d +from gz.math import Vector3d, Vector2d import sdformat as sdf import unittest diff --git a/python/test/pyHeightmap_TEST.py b/python/test/pyHeightmap_TEST.py index 9487c9b95..d58bfa7ea 100644 --- a/python/test/pyHeightmap_TEST.py +++ b/python/test/pyHeightmap_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Vector3d +from gz.math import Vector3d from sdformat import Heightmap, HeightmapBlend, HeightmapTexture import unittest diff --git a/python/test/pyIMU_TEST.py b/python/test/pyIMU_TEST.py index 18d909a56..8eda014ec 100644 --- a/python/test/pyIMU_TEST.py +++ b/python/test/pyIMU_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Vector3d +from gz.math import Vector3d from sdformat import IMU, Noise import sdformat as sdf import unittest diff --git a/python/test/pyJointAxis_TEST.py b/python/test/pyJointAxis_TEST.py index 1b882abf6..d9ac24aab 100644 --- a/python/test/pyJointAxis_TEST.py +++ b/python/test/pyJointAxis_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Pose3d, Vector3d +from gz.math import Pose3d, Vector3d from sdformat import JointAxis, Error, SDFErrorsException import math import unittest diff --git a/python/test/pyJoint_TEST.py b/python/test/pyJoint_TEST.py index cd438fa65..f0ad371a9 100644 --- a/python/test/pyJoint_TEST.py +++ b/python/test/pyJoint_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Pose3d, Vector3d +from gz.math import Pose3d, Vector3d from sdformat import (Joint, JointAxis, Error, SemanticPose, Sensor, SDFErrorsException) import sdformat as sdf diff --git a/python/test/pyLidar_TEST.py b/python/test/pyLidar_TEST.py index 832fa871c..b9ea1b7bb 100644 --- a/python/test/pyLidar_TEST.py +++ b/python/test/pyLidar_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Angle, Pose3d, Vector3d, Helpers +from gz.math import Angle, Pose3d, Vector3d, Helpers from sdformat import Lidar, Error, Noise import math import unittest diff --git a/python/test/pyLight_TEST.py b/python/test/pyLight_TEST.py index 0d1b10cb6..167757e4c 100644 --- a/python/test/pyLight_TEST.py +++ b/python/test/pyLight_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Angle, Color, Pose3d, Vector3d +from gz.math import Angle, Color, Pose3d, Vector3d from sdformat import Light, SDFErrorsException import sdformat as sdf import math diff --git a/python/test/pyLink_TEST.py b/python/test/pyLink_TEST.py index 06f17357b..4bb10665c 100644 --- a/python/test/pyLink_TEST.py +++ b/python/test/pyLink_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Pose3d, Inertiald, MassMatrix3d, Vector3d +from gz.math import Pose3d, Inertiald, MassMatrix3d, Vector3d from sdformat import (Collision, Light, Link, Sensor, Visual, SDFErrorsException) import unittest diff --git a/python/test/pyMagnetometer_TEST.py b/python/test/pyMagnetometer_TEST.py index dd7a8b6cb..6a7597346 100644 --- a/python/test/pyMagnetometer_TEST.py +++ b/python/test/pyMagnetometer_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Pose3d +from gz.math import Pose3d from sdformat import Magnetometer, Noise import sdformat as sdf import unittest diff --git a/python/test/pyMaterial_TEST.py b/python/test/pyMaterial_TEST.py index 2176ec2c6..e52b335ad 100644 --- a/python/test/pyMaterial_TEST.py +++ b/python/test/pyMaterial_TEST.py @@ -14,7 +14,7 @@ import copy from sdformat import Material, Pbr, PbrWorkflow -from ignition.math import Color +from gz.math import Color import sdformat as sdf import unittest diff --git a/python/test/pyMesh_TEST.py b/python/test/pyMesh_TEST.py index 2c2383c73..a854d5c5f 100644 --- a/python/test/pyMesh_TEST.py +++ b/python/test/pyMesh_TEST.py @@ -14,7 +14,7 @@ import copy from sdformat import Mesh -from ignition.math import Vector3d +from gz.math import Vector3d import unittest diff --git a/python/test/pyModel_TEST.py b/python/test/pyModel_TEST.py index ca7626ccd..efb0aa303 100644 --- a/python/test/pyModel_TEST.py +++ b/python/test/pyModel_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Pose3d, Vector3d +from gz.math import Pose3d, Vector3d from sdformat import (Plugin, Model, Joint, Link, Error, Frame, SemanticPose, SDFErrorsException) import sdformat as sdf diff --git a/python/test/pyParticleEmitter_TEST.py b/python/test/pyParticleEmitter_TEST.py index 0a324f113..2464bb1b2 100644 --- a/python/test/pyParticleEmitter_TEST.py +++ b/python/test/pyParticleEmitter_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Color, Pose3d, Vector3d, Helpers +from gz.math import Color, Pose3d, Vector3d, Helpers from sdformat import ParticleEmitter import unittest diff --git a/python/test/pyPlane_TEST.py b/python/test/pyPlane_TEST.py index 3a2889bfa..bd0729f02 100644 --- a/python/test/pyPlane_TEST.py +++ b/python/test/pyPlane_TEST.py @@ -14,7 +14,7 @@ import copy from sdformat import Plane -from ignition.math import Vector3d, Vector2d, Planed +from gz.math import Vector3d, Vector2d, Planed import unittest diff --git a/python/test/pyRoot_TEST.py b/python/test/pyRoot_TEST.py index 39e9cd37d..3bd90e9e1 100644 --- a/python/test/pyRoot_TEST.py +++ b/python/test/pyRoot_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Vector3d, Pose3d +from gz.math import Vector3d, Pose3d from sdformat import (Error, Model, Light, Root, SDF_VERSION, SDFErrorsException, SDF_PROTOCOL_VERSION, World) import sdformat as sdf diff --git a/python/test/pyScene_TEST.py b/python/test/pyScene_TEST.py index e70d96c7a..294149075 100644 --- a/python/test/pyScene_TEST.py +++ b/python/test/pyScene_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Color +from gz.math import Color from sdformat import Scene, Sky import unittest diff --git a/python/test/pySemanticPose_TEST.py b/python/test/pySemanticPose_TEST.py index dcac3bb44..2a30d1993 100644 --- a/python/test/pySemanticPose_TEST.py +++ b/python/test/pySemanticPose_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Pose3d +from gz.math import Pose3d from sdformat import Link, SemanticPose import unittest diff --git a/python/test/pySensor_TEST.py b/python/test/pySensor_TEST.py index b30f450bb..d389e0efe 100644 --- a/python/test/pySensor_TEST.py +++ b/python/test/pySensor_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Pose3d +from gz.math import Pose3d from sdformat import (AirPressure, Altimeter, Camera, IMU, ForceTorque, Lidar, Magnetometer, NavSat, Noise, Plugin, SemanticPose, Sensor, SDFErrorsException) diff --git a/python/test/pySky_TEST.py b/python/test/pySky_TEST.py index 947dc39f0..73c9a22ad 100644 --- a/python/test/pySky_TEST.py +++ b/python/test/pySky_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Angle, Color +from gz.math import Angle, Color from sdformat import Sky import unittest diff --git a/python/test/pySphere_TEST.py b/python/test/pySphere_TEST.py index ddfd7b89f..370d574d5 100644 --- a/python/test/pySphere_TEST.py +++ b/python/test/pySphere_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Sphered +from gz.math import Sphered import math from sdformat import Sphere import unittest diff --git a/python/test/pySurface_TEST.py b/python/test/pySurface_TEST.py index b107dd0df..27936dea4 100644 --- a/python/test/pySurface_TEST.py +++ b/python/test/pySurface_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Vector3d +from gz.math import Vector3d from sdformat import Surface, Contact, Friction, ODE import unittest diff --git a/python/test/pyVisual_TEST.py b/python/test/pyVisual_TEST.py index a4cfcba19..1733da573 100644 --- a/python/test/pyVisual_TEST.py +++ b/python/test/pyVisual_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Pose3d, Color +from gz.math import Pose3d, Color from sdformat import Geometry, Material, Visual, Plugin, SDFErrorsException import sdformat as sdf import unittest diff --git a/python/test/pyWorld_TEST.py b/python/test/pyWorld_TEST.py index 8ee710277..88d929ccd 100644 --- a/python/test/pyWorld_TEST.py +++ b/python/test/pyWorld_TEST.py @@ -13,7 +13,7 @@ # limitations under the License. import copy -from ignition.math import Color, Pose3d, Vector3d, SphericalCoordinates +from gz.math import Color, Pose3d, Vector3d, SphericalCoordinates from sdformat import Atmosphere, Gui, Physics, Plugin, Error, Frame, Light, Model, Scene, World import sdformat as sdf import unittest diff --git a/src/FrameSemantics.cc b/src/FrameSemantics.cc index 0b15cd9ba..0f22e111b 100644 --- a/src/FrameSemantics.cc +++ b/src/FrameSemantics.cc @@ -52,7 +52,7 @@ void printGraph(const ScopedGraph &_graph) std::cout << _graph.Graph() << std::endl; } -// The following two functions were originally submitted to ign-math, +// The following two functions were originally submitted to gz-math, // but were not accepted as they were not generic enough. // For now, they will be kept here. // https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-math/pull-requests/333 diff --git a/src/Plugin_TEST.cc b/src/Plugin_TEST.cc index 24a13fdcb..4734be5de 100644 --- a/src/Plugin_TEST.cc +++ b/src/Plugin_TEST.cc @@ -184,12 +184,12 @@ TEST(DOMPlugin, Load) TEST(DOMPlugin, LoadWithChildren) { std::string pluginStr = R"( - + 3D View - false + false 0 docked - + ogre scene 0.4 0.4 0.4 diff --git a/src/Utils.hh b/src/Utils.hh index d459c3e16..ab872f424 100644 --- a/src/Utils.hh +++ b/src/Utils.hh @@ -61,7 +61,7 @@ namespace sdf /// gz::math::Pose3d::Zero. /// \param[out] _frame Value of the frame attribute. The default value is /// an empty string. - /// \return True if the pose element contained an gz::math::Pose3d + /// \return True if the pose element contained a gz::math::Pose3d /// value. bool loadPose(sdf::ElementPtr _sdf, gz::math::Pose3d &_pose, std::string &_frame); diff --git a/src/gz.hh b/src/gz.hh index cc6077858..e588721ef 100644 --- a/src/gz.hh +++ b/src/gz.hh @@ -15,8 +15,8 @@ * */ -#ifndef SDF_IGN_HH_ -#define SDF_IGN_HH_ +#ifndef SDF_GZ_HH_ +#define SDF_GZ_HH_ #include