Revert "Updated to Microsoft Master"

This reverts commit e2c22b9.

.gitignore

@@ -361,10 +361,6 @@ xcuserdata/
 !*.xcworkspace/contents.xcworkspacedata
 /*.gcno
 
-# Sublime Text
-*.sublime-workspace
-*.sublime-project
-
 # Unity
 /Unity/UnityDemo/Assembly-CSharp.csproj
 /Unity/UnityDemo/UnityDemo.sln
@@ -385,17 +381,9 @@ ros/logs/
 ros/.catkin_workspace
 ros/src/CMakeLists.txt
 
-# ROS2
-ros2/install/
-ros2/log/
-ros2/src/log
-
 # docs
 docs/README.md
 build_docs/
 
 # api docs
 PythonClient/docs/_build
-
-# Docker
-/docker/Blocks/

AirLib/include/api/RpcLibAdaptorsBase.hpp

@@ -491,16 +491,22 @@ namespace airlib_rpclib
             }
 
             ImageRequest(const msr::airlib::ImageCaptureBase::ImageRequest& s)
-                : camera_name(s.camera_name)
-                , image_type(s.image_type)
-                , pixels_as_float(s.pixels_as_float)
-                , compress(s.compress)
             {
+                camera_name = s.camera_name;
+                image_type = s.image_type;
+                pixels_as_float = s.pixels_as_float;
+                compress = s.compress;
             }
 
             msr::airlib::ImageCaptureBase::ImageRequest to() const
             {
-                return { camera_name, image_type, pixels_as_float, compress };
+                msr::airlib::ImageCaptureBase::ImageRequest d;
+                d.camera_name = camera_name;
+                d.image_type = image_type;
+                d.pixels_as_float = pixels_as_float;
+                d.compress = compress;
+
+                return d;
             }
 
             static std::vector<ImageRequest> from(

AirLib/include/api/RpcLibClientBase.hpp

@@ -65,9 +65,6 @@ namespace airlib
         Vector3r simGetObjectScale(const std::string& object_name) const;
         bool simSetObjectPose(const std::string& object_name, const Pose& pose, bool teleport = true);
         bool simSetObjectScale(const std::string& object_name, const Vector3r& scale);
-        std::string simSpawnObject(const std::string& object_name, const std::string& load_component, const Pose& pose,
-                                   const Vector3r& scale, bool physics_enabled);
-        bool simDestroyObject(const std::string& object_name);
 
         //task management APIs
         void cancelLastTask(const std::string& vehicle_name = "");
@@ -149,11 +146,8 @@ namespace airlib
 
         bool simCreateVoxelGrid(const Vector3r& position, const int& x_size, const int& y_size, const int& z_size, const float& res, const std::string& output_file);
         msr::airlib::Kinematics::State simGetGroundTruthKinematics(const std::string& vehicle_name = "") const;
-        void simSetKinematics(const Kinematics::State& state, bool ignore_collision, const std::string& vehicle_name = "");
         msr::airlib::Environment::State simGetGroundTruthEnvironment(const std::string& vehicle_name = "") const;
         std::vector<std::string> simSwapTextures(const std::string& tags, int tex_id = 0, int component_id = 0, int material_id = 0);
-        bool simSetObjectMaterial(const std::string& object_name, const std::string& material_name);
-        bool simSetObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path);
 
         // Recording APIs
         void startRecording();
@@ -165,8 +159,6 @@ namespace airlib
 
         std::string getSettingsString() const;
 
-        std::vector<std::string> simListAssets() const;
-
     protected:
         void* getClient();
         const void* getClient() const;

AirLib/include/api/VehicleSimApiBase.hpp

@@ -54,7 +54,6 @@ namespace airlib
         virtual Pose getPose() const = 0;
         virtual void setPose(const Pose& pose, bool ignore_collision) = 0;
         virtual const Kinematics::State* getGroundTruthKinematics() const = 0;
-        virtual void setKinematics(const Kinematics::State& state, bool ignore_collision) = 0;
         virtual const msr::airlib::Environment* getGroundTruthEnvironment() const = 0;
 
         virtual CollisionInfo getCollisionInfo() const = 0;

AirLib/include/api/WorldSimApiBase.hpp

@@ -32,9 +32,8 @@ namespace airlib
 
         // ------ Level setting apis ----- //
         virtual bool loadLevel(const std::string& level_name) = 0;
-        virtual string spawnObject(const std::string& object_name, const std::string& load_component, const Pose& pose, const Vector3r& scale, bool physics_enabled, bool is_blueprint) = 0;
-        virtual bool destroyObject(const std::string& object_name) = 0;
-        virtual std::vector<std::string> listAssets() const = 0;
+        virtual string spawnObject(string& object_name, const string& load_component, const Pose& pose, const Vector3r& scale, bool physics_enabled) = 0;
+        virtual bool destroyObject(const string& object_name) = 0;
 
         virtual bool isPaused() const = 0;
         virtual void reset() = 0;
@@ -73,9 +72,6 @@ namespace airlib
         virtual bool runConsoleCommand(const std::string& command) = 0;
         virtual bool setObjectScale(const std::string& object_name, const Vector3r& scale) = 0;
         virtual std::unique_ptr<std::vector<std::string>> swapTextures(const std::string& tag, int tex_id = 0, int component_id = 0, int material_id = 0) = 0;
-        virtual bool setLightIntensity(const std::string& light_name, float intensity) = 0;
-        virtual bool setObjectMaterial(const std::string& object_name, const std::string& material_name) = 0;
-        virtual bool setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path) = 0;
         virtual vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const = 0;
 
         virtual bool createVoxelGrid(const Vector3r& position, const int& x_size, const int& y_size, const int& z_size, const float& res, const std::string& output_file) = 0;

AirLib/include/common/AirSimSettings.hpp

@@ -118,7 +118,7 @@ namespace airlib
             {
             }
 
-            static Rotation nanRotation() noexcept
+            static Rotation nanRotation()
             {
                 static const Rotation val(Utils::nan<float>(), Utils::nan<float>(), Utils::nan<float>());
                 return val;

AirLib/include/common/ClockBase.hpp

@@ -26,8 +26,6 @@ namespace airlib
             wall_clock_start_ = Utils::getTimeSinceEpochNanos();
         }
 
-        virtual ~ClockBase() = default;
-
         TTimeDelta elapsedSince(TTimePoint since) const
         {
             return elapsedBetween(nowNanos(), since);

AirLib/include/common/EarthUtils.hpp

@@ -306,47 +306,6 @@ namespace airlib
                 return GeoPoint(home_geo_point.home_geo_point.latitude, home_geo_point.home_geo_point.longitude, home_geo_point.home_geo_point.altitude - v.z());
         }
 
-        static Vector3r GeodeticToEcef(const GeoPoint& geo)
-        {
-            // Convert geodetic coordinates to ECEF.
-            // http://code.google.com/p/pysatel/source/browse/trunk/coord.py?r=22
-            double lat_rad = Utils::degreesToRadians(geo.latitude);
-            double lon_rad = Utils::degreesToRadians(geo.longitude);
-            double xi = sqrt(1 - (6.69437999014 * 0.001) * sin(lat_rad) * sin(lat_rad));
-            real_T x = static_cast<real_T>((EARTH_RADIUS / xi + geo.altitude) * cos(lat_rad) * cos(lon_rad));
-            real_T y = static_cast<real_T>((EARTH_RADIUS / xi + geo.altitude) * cos(lat_rad) * sin(lon_rad));
-            real_T z = static_cast<real_T>((EARTH_RADIUS / xi * (1 - (6.69437999014 * 0.001)) + geo.altitude) * sin(lat_rad));
-            return Vector3r(x, y, z);
-        }
-
-        static Vector3r EcefToNed(const Vector3r& ecefxyz, const Vector3r& ecefhome, const GeoPoint& geohome)
-        {
-            // Converts ECEF coordinate position into local-tangent-plane NED.
-            // Coordinates relative to given ECEF coordinate frame.
-
-            Vector3r vect, ret;
-            Matrix3x3r ecef_to_ned_matrix_;
-            double lat_rad = Utils::degreesToRadians(geohome.latitude);
-            double lon_rad = Utils::degreesToRadians(geohome.longitude);
-            vect = ecefxyz - ecefhome;
-            ecef_to_ned_matrix_(0, 0) = static_cast<float>(-sin(lat_rad) * cos(lon_rad));
-            ecef_to_ned_matrix_(0, 1) = static_cast<float>(-sin(lat_rad) * sin(lon_rad));
-            ecef_to_ned_matrix_(0, 2) = static_cast<float>(cos(lat_rad));
-            ecef_to_ned_matrix_(1, 0) = static_cast<float>(-sin(lon_rad));
-            ecef_to_ned_matrix_(1, 1) = static_cast<float>(cos(lon_rad));
-            ecef_to_ned_matrix_(1, 2) = 0.0f;
-            ecef_to_ned_matrix_(2, 0) = static_cast<float>(cos(lat_rad) * cos(lon_rad));
-            ecef_to_ned_matrix_(2, 1) = static_cast<float>(cos(lat_rad) * sin(lon_rad));
-            ecef_to_ned_matrix_(2, 2) = static_cast<float>(sin(lat_rad));
-            ret = ecef_to_ned_matrix_ * vect;
-            return Vector3r(ret(0), ret(1), -ret(2));
-        }
-
-        static Vector3r GeodeticToNed(const GeoPoint& geo, const GeoPoint& geohome)
-        {
-            return EcefToNed(GeodeticToEcef(geo), GeodeticToEcef(geohome), geohome);
-        }
-
         //below are approximate versions and would produce errors of more than 10m for points farther than 1km
         //for more accurate versions, please use the version in EarthUtils::nedToGeodetic
         static Vector3r GeodeticToNedFast(const GeoPoint& geo, const GeoPoint& home)

AirLib/include/common/FrequencyLimiter.hpp

@@ -48,7 +48,6 @@ namespace airlib
 
         virtual void failResetUpdateOrdering(std::string err) override
         {
-            unused(err);
             // Do nothing.
             // Disable checks for reset/update sequence because
             // this object may get created but not used.

AirLib/include/common/ImageCaptureBase.hpp

@@ -26,8 +26,6 @@ namespace airlib
             Segmentation,
             SurfaceNormals,
             Infrared,
-            OpticalFlow,
-            OpticalFlowVis,
             Count //must be last
         };
 
@@ -42,15 +40,12 @@ namespace airlib
             {
             }
 
-            ImageRequest(const std::string& camera_name_val,
-                         ImageCaptureBase::ImageType image_type_val,
-                         bool pixels_as_float_val = false,
-                         bool compress_val = true)
-                : camera_name(camera_name_val)
-                , image_type(image_type_val)
-                , pixels_as_float(pixels_as_float_val)
-                , compress(compress_val)
+            ImageRequest(const std::string& camera_name_val, ImageCaptureBase::ImageType image_type_val, bool pixels_as_float_val = false, bool compress_val = true)
             {
+                camera_name = camera_name_val;
+                image_type = image_type_val;
+                pixels_as_float = pixels_as_float_val;
+                compress = compress_val;
             }
         };
 
@@ -72,8 +67,7 @@ namespace airlib
 
     public: //methods
         virtual void getImages(const std::vector<ImageRequest>& requests, std::vector<ImageResponse>& responses) const = 0;
-        virtual ~ImageCaptureBase() = default;
     };
 }
 } //namespace
-#endif
+#endif

AirLib/include/common/common_utils/Signal.hpp

@@ -44,9 +44,9 @@ class Signal
     Signal()
         : current_id_(0) {}
 
-    // Currently deleted since unused and there shouldn't be any need for this
-    Signal(Signal const& other) = delete;
-    Signal& operator=(Signal const& other) = delete;
+    // copy creates new signal
+    Signal(Signal const& other)
+        : current_id_(0) {}
 
     // connects a member function to this Signal
     template <typename T>
@@ -95,10 +95,16 @@ class Signal
         }
     }
 
+    // assignment creates new Signal
+    Signal& operator=(Signal const& other)
+    {
+        disconnect_all();
+    }
+
 private:
     mutable std::map<int, std::function<void(Args...)>> slots_;
     mutable int current_id_;
 };
 }
 
-#endif /* common_utils_Signal_hpp */
+#endif /* common_utils_Signal_hpp */

AirLib/include/common/common_utils/Utils.hpp

@@ -50,7 +50,7 @@
 
 /*
     This file is collection of routines that can be included in ANY project just
-    by dropping in common_utils.hpp. Therefore there should not be any dependency
+    by dropping in common_utils.hpp. Therefore there should not be any dependency 
     in the code below other than STL. The code should be able to compilable on
     all major platforms.
 */
@@ -102,8 +102,6 @@ class Utils
             else
                 std::cerr << message << std::endl;
         }
-
-        virtual ~Logger() = default;
     };
 
     static void enableImmediateConsoleFlush()

AirLib/include/vehicles/car/CarApiFactory.hpp

@@ -17,14 +17,15 @@ namespace airlib
     public:
         static std::unique_ptr<CarApiBase> createApi(const AirSimSettings::VehicleSetting* vehicle_setting,
                                                      std::shared_ptr<SensorFactory> sensor_factory,
-                                                     const Kinematics::State& state, const Environment& environment)
+                                                     const Kinematics::State& state, const Environment& environment,
+                                                     const msr::airlib::GeoPoint& home_geopoint)
         {
             if (vehicle_setting->vehicle_type == AirSimSettings::kVehicleTypeArduRover) {
-                return std::unique_ptr<CarApiBase>(new ArduRoverApi(vehicle_setting, sensor_factory, state, environment));
+                return std::unique_ptr<CarApiBase>(new ArduRoverApi(vehicle_setting, sensor_factory, state, environment, home_geopoint));
             }
             else if (vehicle_setting->vehicle_type == "" || //default config
                      vehicle_setting->vehicle_type == AirSimSettings::kVehicleTypePhysXCar) {
-                return std::unique_ptr<CarApiBase>(new PhysXCarApi(vehicle_setting, sensor_factory, state, environment));
+                return std::unique_ptr<CarApiBase>(new PhysXCarApi(vehicle_setting, sensor_factory, state, environment, home_geopoint));
             }
             else
                 throw std::runtime_error(Utils::stringf(

AirLib/include/vehicles/car/firmwares/ardurover/ArduRoverApi.hpp

@@ -32,8 +32,8 @@ namespace airlib
 
     public:
         ArduRoverApi(const AirSimSettings::VehicleSetting* vehicle_setting, std::shared_ptr<SensorFactory> sensor_factory,
-                     const Kinematics::State& state, const Environment& environment)
-            : CarApiBase(vehicle_setting, sensor_factory, state, environment), home_geopoint_(environment.getHomeGeoPoint())
+                     const Kinematics::State& state, const Environment& environment, const msr::airlib::GeoPoint& home_geopoint)
+            : CarApiBase(vehicle_setting, sensor_factory, state, environment), home_geopoint_(home_geopoint)
         {
             connection_info_ = static_cast<const AirSimSettings::MavLinkVehicleSetting*>(vehicle_setting)->connection_info;
             sensors_ = &getSensors();

AirLib/include/vehicles/car/firmwares/physxcar/PhysXCarApi.hpp

@@ -15,8 +15,8 @@ namespace airlib
     {
     public:
         PhysXCarApi(const AirSimSettings::VehicleSetting* vehicle_setting, std::shared_ptr<SensorFactory> sensor_factory,
-                    const Kinematics::State& state, const Environment& environment)
-            : CarApiBase(vehicle_setting, sensor_factory, state, environment), home_geopoint_(environment.getHomeGeoPoint())
+                    const Kinematics::State& state, const Environment& environment, const msr::airlib::GeoPoint& home_geopoint)
+            : CarApiBase(vehicle_setting, sensor_factory, state, environment), home_geopoint_(home_geopoint)
         {
         }
 

AirLib/include/vehicles/multirotor/api/MultirotorApiBase.hpp

@@ -91,8 +91,6 @@ namespace airlib
         virtual bool land(float timeout_sec);
         virtual bool goHome(float timeout_sec);
 
-        virtual bool moveToGPS(float latitude, float longitude, float altitude, float velocity, float timeout_sec, DrivetrainType drivetrain,
-                               const YawMode& yaw_mode, float lookahead, float adaptive_lookahead);
         virtual bool moveByVelocityBodyFrame(float vx, float vy, float vz, float duration, DrivetrainType drivetrain, const YawMode& yaw_mode);
         virtual bool moveByVelocityZBodyFrame(float vx, float vy, float z, float duration, DrivetrainType drivetrain, const YawMode& yaw_mode);
         virtual bool moveByMotorPWMs(float front_right_pwm, float rear_left_pwm, float front_left_pwm, float rear_right_pwm, float duration);

AirLib/include/vehicles/multirotor/api/MultirotorRpcLibClient.hpp

@@ -26,9 +26,6 @@ namespace airlib
         MultirotorRpcLibClient* landAsync(float timeout_sec = 60, const std::string& vehicle_name = "");
         MultirotorRpcLibClient* goHomeAsync(float timeout_sec = Utils::max<float>(), const std::string& vehicle_name = "");
 
-        MultirotorRpcLibClient* moveToGPSAsync(float latitude, float longitude, float altitude, float velocity, float timeout_sec = Utils::max<float>(),
-                                               DrivetrainType drivetrain = DrivetrainType::MaxDegreeOfFreedom, const YawMode& yaw_mode = YawMode(),
-                                               float lookahead = -1, float adaptive_lookahead = 1, const std::string& vehicle_name = "");
         MultirotorRpcLibClient* moveByVelocityBodyFrameAsync(float vx, float vy, float vz, float duration,
                                                              DrivetrainType drivetrain = DrivetrainType::MaxDegreeOfFreedom, const YawMode& yaw_mode = YawMode(), const std::string& vehicle_name = "");
         MultirotorRpcLibClient* moveByVelocityZBodyFrameAsync(float vx, float vy, float z, float duration,

AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/interfaces/CommonStructs.hpp

@@ -17,8 +17,6 @@ class Axis3
     {
     }
 
-    virtual ~Axis3() = default;
-
     //access by index
     virtual T& operator[](unsigned int index)
     {
@@ -370,4 +368,4 @@ struct PidConfig
     IntegratorType integrator_type = IntegratorType::Standard;
 };
 
-} //namespace
+} //namespace

AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/interfaces/IBoardClock.hpp

@@ -10,7 +10,5 @@ class IBoardClock
 public:
     virtual uint64_t micros() const = 0;
     virtual uint64_t millis() const = 0;
-
-    virtual ~IBoardClock() = default;
 };
-}
+}

AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/interfaces/IBoardInputPins.hpp

@@ -11,7 +11,5 @@ class IBoardInputPins
     virtual float readChannel(uint16_t index) const = 0; //output -1 to 1
     virtual bool isRcConnected() const = 0;
     virtual float getAvgMotorOutput() const = 0;
-
-    virtual ~IBoardInputPins() = default;
 };
-}
+}

AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/interfaces/IBoardOutputPins.hpp

@@ -10,7 +10,5 @@ class IBoardOutputPins
 public:
     virtual void writeOutput(uint16_t index, float val) = 0; //val = -1 to 1 for reversible motors otherwise 0 to 1
     virtual void setLed(uint8_t index, int32_t color) = 0;
-
-    virtual ~IBoardOutputPins() = default;
 };
-}
+}

AirLib/include/vehicles/multirotor/firmwares/simple_flight/firmware/interfaces/IBoardSensors.hpp

@@ -8,7 +8,5 @@ class IBoardSensors
 public:
     virtual void readAccel(float accel[3]) const = 0; //accel in m/s^2
     virtual void readGyro(float gyro[3]) const = 0; //angular velocity vector rad/sec
-
-    virtual ~IBoardSensors() = default;
 };
-}
+}