Merge pull request #539 from osrf/10-to-11-20210412

10 to 11 20210412

Changelog.md

@@ -146,7 +146,17 @@
 
 ## libsdformat 10.X
 
-### libsdformat 10.X.X (202X-XX-XX)
+### libsdformat 10.4.0 (2021-04-06)
+
+1. Added particle emitter.
+    + [Pull request 528](https://github.com/osrf/sdformat/pull/528)
+
+1. Fixed application of <sensor><pose> tags in lumped linkes during URDF
+   conversion.
+    + [Pull request 525](https://github.com/osrf/sdformat/pull/525)
+
+1. Add camera type aliases to docs.
+    + [Pull request 514](https://github.com/osrf/sdformat/pull/514)
 
 ### libsdformat 10.3.0 (2021-02-18)
 

Migration.md

@@ -69,6 +69,9 @@ but with improved human-readability..
 
 1. Fixed Atmosphere DOM class's temperature default value. Changed from -0.065 to -0.0065.
     * [Pull request 482](https://github.com/osrf/sdformat/pull/482)
+
+1. Fixed parsing of `<sensor><pose>` tags on lumped links when converting from URDF.
+    * [Pull request 525](https://github.com/osrf/sdformat/pull/525)
 
 ## libsdformat 9.x to 10.0
 

include/sdf/CMakeLists.txt

@@ -42,6 +42,7 @@ set (headers
   Param.hh
   parser.hh
   ParserConfig.hh
+  ParticleEmitter.hh
   Pbr.hh
   Physics.hh
   Plane.hh

include/sdf/Link.hh

@@ -36,6 +36,7 @@ namespace sdf
   // Forward declarations.
   class Collision;
   class Light;
+  class ParticleEmitter;
   class Sensor;
   class Visual;
   struct PoseRelativeToGraph;
@@ -150,6 +151,32 @@ namespace sdf
     /// \sa bool SensorNameExists(const std::string &_name) const
     public: const Sensor *SensorByName(const std::string &_name) const;
 
+    /// \brief Get the number of particle emitters.
+    /// \return Number of particle emitters contained in this Link object.
+    public: uint64_t ParticleEmitterCount() const;
+
+    /// \brief Get a particle emitter based on an index.
+    /// \param[in] _index Index of the particle emitter.
+    /// The index should be in the range [0..ParticleEmitterCount()).
+    /// \return Pointer to the particle emitter. Nullptr if the index does
+    /// not exist.
+    /// \sa uint64_t ParticleEmitterCount() const
+    public: const ParticleEmitter *ParticleEmitterByIndex(
+                const uint64_t _index) const;
+
+    /// \brief Get whether a particle emitter name exists.
+    /// \param[in] _name Name of the particle emitter to check.
+    /// \return True if there exists a particle emitter with the given name.
+    public: bool ParticleEmitterNameExists(const std::string &_name) const;
+
+    /// \brief Get a particle emitter based on a name.
+    /// \param[in] _name Name of the particle emitter.
+    /// \return Pointer to the particle emitter. Nullptr if a particle emitter
+    /// with the given name does not exist.
+    /// \sa bool ParticleEmitterNameExists(const std::string &_name) const
+    public: const ParticleEmitter *ParticleEmitterByName(
+                const std::string &_name) const;
+
     /// \brief Get the inertial value for this link. The inertial object
     /// consists of the link's mass, a 3x3 rotational inertia matrix, and
     /// a pose for the inertial reference frame. The units for mass is