Merge 95b3963 into 12e9c1f

Migration.md

@@ -538,6 +538,12 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
 
 ### Modifications
 
+1. **joint.sdf**: axis limits default values have changed
+    + `//limit/lower`: `-inf` (formerly `-1e16`)
+    + `//limit/upper`: `inf` (formerly `1e16`)
+    + `//limit/velocity`: `inf` (formerly `-1`)
+    + `//limit/effort`: `inf` (formerly `-1`)
+
 1. **plugin.sdf**: name attribute is now optional with empty default value.
 
 ## SDFormat specification 1.8 to 1.9

python/test/pyJointAxis_TEST.py

@@ -29,8 +29,8 @@ def test_default_construction(self):
         self.assertAlmostEqual(0.0, axis.friction())
         self.assertAlmostEqual(0.0, axis.spring_reference())
         self.assertAlmostEqual(0.0, axis.spring_stiffness())
-        self.assertAlmostEqual(-1e16, axis.lower())
-        self.assertAlmostEqual(1e16, axis.upper())
+        self.assertAlmostEqual(-math.inf, axis.lower())
+        self.assertAlmostEqual(math.inf, axis.upper())
         self.assertAlmostEqual(math.inf, axis.effort())
         self.assertAlmostEqual(math.inf, axis.max_velocity())
         self.assertAlmostEqual(1e8, axis.stiffness())

sdf/1.10/joint.sdf

@@ -74,16 +74,16 @@
     </element> <!-- End Dynamics -->
     <element name="limit" required="1">
       <description>specifies the limits of this joint</description>
-      <element name="lower" type="double" default="-1e16" required="1">
+      <element name="lower" type="double" default="-inf" required="1">
         <description>Specifies the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.</description>
       </element>
-      <element name="upper" type="double" default="1e16" required="1">
+      <element name="upper" type="double" default="inf" required="1">
         <description>Specifies the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.</description>
       </element>
-      <element name="effort" type="double" default="-1" required="0">
+      <element name="effort" type="double" default="inf" required="0">
         <description>A value for enforcing the maximum joint effort applied. Limit is not enforced if value is negative.</description>
       </element>
-      <element name="velocity" type="double" default="-1" required="0">
+      <element name="velocity" type="double" default="inf" required="0">
         <description>A value for enforcing the maximum joint velocity.</description>
       </element>
 
@@ -132,16 +132,16 @@
 
     <element name="limit" required="1">
       <description></description>
-      <element name="lower" type="double" default="-1e16" required="0">
+      <element name="lower" type="double" default="-inf" required="0">
         <description>An attribute specifying the lower joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.</description>
       </element>
-      <element name="upper" type="double" default="1e16" required="0">
+      <element name="upper" type="double" default="inf" required="0">
         <description>An attribute specifying the upper joint limit (radians for revolute joints, meters for prismatic joints). Omit if joint is continuous.</description>
       </element>
-      <element name="effort" type="double" default="-1" required="0">
+      <element name="effort" type="double" default="inf" required="0">
         <description>An attribute for enforcing the maximum joint effort applied by Joint::SetForce.  Limit is not enforced if value is negative.</description>
       </element>
-      <element name="velocity" type="double" default="-1" required="0">
+      <element name="velocity" type="double" default="inf" required="0">
         <description>(not implemented) An attribute for enforcing the maximum joint velocity.</description>
       </element>
 

src/JointAxis.cc

@@ -16,6 +16,7 @@
  */
 #include <algorithm>
 #include <iterator>
+#include <limits>
 
 #include <gz/math/Pose3.hh>
 #include <gz/math/Vector3.hh>
@@ -41,10 +42,6 @@ class sdf::JointAxis::Implementation
   /// \brief Frame in which xyz is expressed in.
   public: std::string xyzExpressedIn = "";
 
-  /// \brief Flag to interpret the axis xyz element in the parent model
-  /// frame instead of joint frame.
-  public: bool useParentModelFrame = false;
-
   /// \brief The physical velocity dependent viscous damping coefficient
   /// of the joint.
   public: double damping = 0.0;
@@ -60,18 +57,18 @@ class sdf::JointAxis::Implementation
 
   /// \brief Specifies the lower joint limit (radians for revolute joints,
   /// meters for prismatic joints). Omit if joint is continuous.
-  public: double lower = -1e16;
+  public: double lower = -std::numeric_limits<double>::infinity();
 
   /// \brief Specifies the upper joint limit (radians for revolute joints,
   /// meters for prismatic joints). Omit if joint is continuous.
-  public: double upper = 1e16;
+  public: double upper = std::numeric_limits<double>::infinity();
 
   /// \brief A value for enforcing the maximum joint effort applied.
   /// Limit is not enforced if value is negative.
-  public: double effort = -1;
+  public: double effort = std::numeric_limits<double>::infinity();
 
   /// \brief A value for enforcing the maximum joint velocity.
-  public: double maxVelocity = -1;
+  public: double maxVelocity = std::numeric_limits<double>::infinity();
 
   /// \brief Joint stop stiffness.
   public: double stiffness = 1e8;
@@ -106,7 +103,8 @@ Errors JointAxis::Load(ElementPtr _sdf)
   if (_sdf->HasElement("xyz"))
   {
     using gz::math::Vector3d;
-    auto errs = this->SetXyz(_sdf->Get<Vector3d>("xyz", Vector3d::UnitZ).first);
+    auto errs = this->SetXyz(_sdf->Get<Vector3d>("xyz",
+        this->dataPtr->xyz).first);
     std::copy(errs.begin(), errs.end(), std::back_inserter(errors));
     auto e = _sdf->GetElement("xyz");
     if (e->HasAttribute("expressed_in"))
@@ -120,37 +118,38 @@ Errors JointAxis::Load(ElementPtr _sdf)
         "The xyz element in joint axis is required"});
   }
 
-  // Get whether to use the parent model frame.
-  this->dataPtr->useParentModelFrame = _sdf->Get<bool>(
-      "use_parent_model_frame", false).first;
-
   // Load dynamic values, if present
   if (_sdf->HasElement("dynamics"))
   {
     sdf::ElementPtr dynElement = _sdf->GetElement("dynamics");
 
-    this->dataPtr->damping = dynElement->Get<double>("damping", 0.0).first;
-    this->dataPtr->friction = dynElement->Get<double>("friction", 0.0).first;
-    this->dataPtr->springReference =
-      dynElement->Get<double>("spring_reference", 0.0).first;
-    this->dataPtr->springStiffness =
-      dynElement->Get<double>("spring_stiffness", 0.0).first;
+    this->dataPtr->damping = dynElement->Get<double>("damping",
+        this->dataPtr->damping).first;
+    this->dataPtr->friction = dynElement->Get<double>("friction",
+        this->dataPtr->friction).first;
+    this->dataPtr->springReference = dynElement->Get<double>("spring_reference",
+        this->dataPtr->springReference).first;
+    this->dataPtr->springStiffness = dynElement->Get<double>("spring_stiffness",
+        this->dataPtr->springStiffness).first;
   }
 
   // Load limit values
   if (_sdf->HasElement("limit"))
   {
     sdf::ElementPtr limitElement = _sdf->GetElement("limit");
 
-    this->dataPtr->lower = limitElement->Get<double>("lower", -1e16).first;
-    this->dataPtr->upper = limitElement->Get<double>("upper", 1e16).first;
-    this->dataPtr->effort = limitElement->Get<double>("effort", -1).first;
-    this->dataPtr->maxVelocity = limitElement->Get<double>(
-        "velocity", -1).first;
-    this->dataPtr->stiffness = limitElement->Get<double>(
-        "stiffness", 1e8).first;
-    this->dataPtr->dissipation = limitElement->Get<double>(
-        "dissipation", 1.0).first;
+    this->dataPtr->lower = limitElement->Get<double>("lower",
+        this->dataPtr->lower).first;
+    this->dataPtr->upper = limitElement->Get<double>("upper",
+        this->dataPtr->upper).first;
+    this->dataPtr->effort = limitElement->Get<double>("effort",
+        this->dataPtr->effort).first;
+    this->dataPtr->maxVelocity = limitElement->Get<double>("velocity",
+        this->dataPtr->maxVelocity).first;
+    this->dataPtr->stiffness = limitElement->Get<double>("stiffness",
+        this->dataPtr->stiffness).first;
+    this->dataPtr->dissipation = limitElement->Get<double>("dissipation",
+        this->dataPtr->dissipation).first;
   }
   else
   {
@@ -392,11 +391,6 @@ sdf::ElementPtr JointAxis::ToElement(unsigned int _index) const
     xyzElem->GetAttribute("expressed_in")->Set<std::string>(
         this->XyzExpressedIn());
   }
-  else if (this->dataPtr->useParentModelFrame)
-  {
-     xyzElem->GetAttribute("expressed_in")->Set<std::string>(
-        "__model__");
-  }
   sdf::ElementPtr dynElem = axisElem->GetElement("dynamics");
   dynElem->GetElement("damping")->Set<double>(this->Damping());
   dynElem->GetElement("friction")->Set<double>(this->Friction());

src/JointAxis_TEST.cc

@@ -16,6 +16,7 @@
 */
 
 #include <gtest/gtest.h>
+#include <limits>
 #include "sdf/JointAxis.hh"
 
 /////////////////////////////////////////////////
@@ -29,8 +30,8 @@ TEST(DOMJointAxis, Construction)
   EXPECT_DOUBLE_EQ(0.0, axis.Friction());
   EXPECT_DOUBLE_EQ(0.0, axis.SpringReference());
   EXPECT_DOUBLE_EQ(0.0, axis.SpringStiffness());
-  EXPECT_DOUBLE_EQ(-1e16, axis.Lower());
-  EXPECT_DOUBLE_EQ(1e16, axis.Upper());
+  EXPECT_DOUBLE_EQ(-std::numeric_limits<double>::infinity(), axis.Lower());
+  EXPECT_DOUBLE_EQ(std::numeric_limits<double>::infinity(), axis.Upper());
   EXPECT_DOUBLE_EQ(std::numeric_limits<double>::infinity(), axis.Effort());
   EXPECT_DOUBLE_EQ(std::numeric_limits<double>::infinity(), axis.MaxVelocity());
   EXPECT_DOUBLE_EQ(1e8, axis.Stiffness());

test/integration/joint_axis_dom.cc

@@ -244,8 +244,8 @@ TEST(DOMJointAxis, InfiniteLimits)
     ASSERT_NE(nullptr, joint);
     auto axis = joint->Axis(0);
     ASSERT_NE(nullptr, axis);
-    EXPECT_DOUBLE_EQ(-1e16, axis->Lower());
-    EXPECT_DOUBLE_EQ(1e16, axis->Upper());
+    EXPECT_DOUBLE_EQ(-kInf, axis->Lower());
+    EXPECT_DOUBLE_EQ(kInf, axis->Upper());
     EXPECT_DOUBLE_EQ(kInf, axis->Effort());
     EXPECT_DOUBLE_EQ(kInf, axis->MaxVelocity());
   }