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Allow "drilling down" into nested model frames #381

Merged
merged 75 commits into from
Nov 18, 2020
Merged

Allow "drilling down" into nested model frames #381

merged 75 commits into from
Nov 18, 2020

Commits on Sep 3, 2020

  1. Expect nested_explicit_canonical_link.sdf is valid 

    Split nested_invalid_explicit_canonical_link.sdf
into nested_explicit_canonical_link.sdf and
nested_without_links_invalid.sdf and update
UNIT_ign_TEST and an integration test.

Signed-off-by: Steve Peters <[email protected]>
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  2. Support :: syntax in *NameExists and *ByName APIs 

    This extends the `Model::*NameExists` and `Model::*ByName` APIs
(like LinkNameExists and LinkByName) that allow passing
nested names that can begin with a sequence of nested model
names separated by :: and may end with the name of an object
of the specified type, such as "outer_model::inner_model::inner_joint".

For now, if a nested model is not found that matches the nested name
preceding the final ::, then it checks for objects in the current model
that match the entire name. This extra check should be disabled
when "::" is reserved and not allowed in frame names.

Signed-off-by: Steve Peters <[email protected]>
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  3. Changelog and Migration guide 

    Signed-off-by: Steve Peters <[email protected]>
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  4. Ensure CanonicalLink pointer is valid 

    Signed-off-by: Steve Peters <[email protected]>
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Commits on Sep 10, 2020

  1. Merge branch 'master' into explicit_nested_canonical

    @scpeters
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Commits on Sep 23, 2020

  1. Add ScopedGraph header 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Sep 24, 2020

  1. Frame attached to tests passing 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  2. FrameSemantics_TEST passing 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Sep 25, 2020

  1. Pass ChildScope with new scope name 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Sep 29, 2020

  1. Merge branch 'explicit_nested_canonical' into drill_down 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Oct 1, 2020

  1. Add command line tool to generate graph 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  2. Avoid using the RawPose of the DOM object when the object is a frame … 

    …(implicit or explicit)

Instead use the edges in the pose graph. This allows us to update only
the pose graph when handling placement frames.

Signed-off-by: Addisu Z. Taddese <[email protected]>
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  3. Handle placement frames with new PoseRelativeTo construction scheme 

    The PoseRelativeTo used to be constructed in each nested model's Load
funcition. Now, it's only constructed at the outer most model. Because
of this decoupling and Since the model is `const` when the graph is
constructed, placement frames are handled differently. Instead of
updating the raw pose of the model, the edge connecting the model frame
to it's relative_to frame is modified to take into account the placement
frame.

Signed-off-by: Addisu Z. Taddese <[email protected]>
    @azeey
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  4. Add __root__ scope 

    The __root__ vertex is the root node of both world and model
PoseRelativeTo graphs. It corresponds to the `<sdf>` tag in SDFormat
files. Having this node makes it possible to keep the a model's pose and
(possibly accounting for placement_frame) information in the edge from
the _root__ vertex to the model vertex.

Signed-off-by: Addisu Z. Taddese <[email protected]>
    @azeey
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  5. Revert changes in loadUniqueRepeated 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
    @azeey
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  6. Make ScopedGraph use pointer semantics 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Oct 6, 2020

  1. Cleanup 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Oct 7, 2020

  1. Remove __root__ scope name 

    The `__root__` vertex still exits, but has either a `__model__` scope or
a `world` scope.

Signed-off-by: Addisu Z. Taddese <[email protected]>
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  2. SemanticPose::Resolve and JointAxis::ResolveXyz to a SemanticPose obj… 

    …ect to set the scope

Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Oct 8, 2020

  1. Add missing file 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  2. Remove aliasing edges, there is no need for them. Also remove updateG… 

    …raphPose

Signed-off-by: Addisu Z. Taddese <[email protected]>
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  3. Refactor 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  4. Cleanup 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
    @azeey
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  5. Add Resolve function that takes DOM objects 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  6. Add test for placement attribute with nested link 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
    @azeey
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  7. Codecheck 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  8. Fix macOS build error 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
    @azeey
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  9. Add nested model pose relative_to test 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  10. Add nested model frame attached_to test 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  11. Add test for joints that reference entities in nested models 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
    @azeey
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Commits on Oct 9, 2020

  1. Add API documentation for ScopedGraph, refactor 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  2. Add test for placement_frame element that references nested frames 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
    @azeey
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  3. Add test for empty models that contain a nested static model 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Oct 10, 2020

  1. Resolve SemanticPose objects relative to other SemanticPose objects 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  2. Add missing file 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Oct 14, 2020

  1. Revert the SemanticPose::Resolve API that takes SemanticPose objects 

    This proved to be problematic since the graph contained in the input
SemanticPose can be at a different scope than the graph in the current
object. Thus it becomes necessary to find the least common ancestor
vertex between two vertices in the graph. This is feasible, but it would
be best to do it in a separate PR.

Signed-off-by: Addisu Z. Taddese <[email protected]>
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  2. Remove addNestedModel 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
    @azeey
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  3. Add more documentation, cleanup 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
    @azeey
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  4. Validate __root__ vertices 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
    @azeey
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  5. Add more error cases in validate* functions 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
    @azeey
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  6. Remove obsolete test 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
    @azeey
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  7. Prevent users from referencing __root__ in SDFormat XML. 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Oct 22, 2020

  1. More expectations in LoadJointNestedParentChild 

    Test `Joint::Resolve*Link` methods in LoadJointNestedParentChild
test case.

Signed-off-by: Steve Peters <[email protected]>
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  2. Address Reviewer feedback 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  3. Add and update doxygen for SetFrameAttachedToGraph and SetPoseRelativ… 

    …eToGraph

Signed-off-by: Addisu Z. Taddese <[email protected]>
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  4. Add doxygen to new SemanticPose constructor 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  5. Remove unnecessary code 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Oct 23, 2020

  1. Refactor code that handles PlacementFrame into a function 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  2. Address reviewer feedback 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  3. Add failing test showing bug in checkFrameAttachedToNames 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  4. Fix how frame attached_to names are checked for existence 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  5. Add unit test for the output stream of sdf::Errors 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Oct 27, 2020

  1. Return void from Model::SetPoseRelativeToGraph 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  2. Add test for world level nested references 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  3. Add test for ign graph command 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  4. Be more selective about checking for usage of __root__ 

    Instead of checking if any attribute has a value of "__root__", only the
following attributes are checked:
  * //frame/[@attached_to]
  * //pose/[@relative_to]
  * //model/[@placement_frame]
  * //model/[@canonical_link]
  * //sensor/imu/orientation_reference_frame/custom_rpy/[@parent_frame]

In addition, the elements //joint/parent, //joint/child and
//include/placement_frame are checked for validity

Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Oct 28, 2020

  1. Address reviewer feedback 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  2. Merge remote-tracking branch 'upstream/master' into drill_down

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Commits on Oct 30, 2020

  1. Scoped -> scoped 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  2. Address reviewer feedback 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  3. Change scopeName to scopeContextName 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  4. Add warning to the help message of ign sdf -g command 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  5. Remove extraneous error comments 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  6. Address reviewer feedback 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  7. Merge remote-tracking branch 'upstream/master' into drill_down 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  8. Resolve additional merge conflicts 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  9. Cleanup 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Nov 3, 2020

  1. Address reviewer feedback 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  2. Merge branch 'master' into drill_down

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Commits on Nov 5, 2020

  1. State that *Count functions only count immediate child elements 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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  2. Address reviewer feedback 

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  3. Typo 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Nov 6, 2020

  1. Revert documentation updates to Root::*ByName and World::*ByName func… 

    …tions

Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Nov 11, 2020

  1. Keep some of the changes from the previous commit 

    Signed-off-by: Addisu Z. Taddese <[email protected]>
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Commits on Nov 18, 2020

  1. Move construction of PoseRelativeToGraph and FrameAttachedToGraph to … 

    …sdf::Root (#1)

* Move graph creation to sdf::Root from sdf::World and sdf::Model.

Signed-off-by: Addisu Z. Taddese <[email protected]>

* Convert ScopedGraph to hold a strong reference to the underlying graph

Signed-off-by: Addisu Z. Taddese <[email protected]>

* Add copy/move constructors to sdf::Root

Signed-off-by: Addisu Z. Taddese <[email protected]>

* Additional test of sdf::Root objects before copy and move

Signed-off-by: Addisu Z. Taddese <[email protected]>

* Fix typo

Signed-off-by: Addisu Z. Taddese <[email protected]>

* Explicitly delete copy constructor and assignment.

Signed-off-by: Addisu Z. Taddese <[email protected]>
    @azeey
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