Fixes precision loss when adding nested models.

The precision loss is resolved by explicitly calling std::setprecision for float and double parameters when these are streamed/requested as strings. Signed-off-by: Hauke Heibel <[email protected]>
gazebosim · Jul 7, 2020 · bc247b1 · bc247b1
1 parent 3b4275d
commit bc247b1
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Showing 4 changed files with 21 additions and 6 deletions.
diff --git a/include/sdf/Param.hh b/include/sdf/Param.hh
@@ -23,6 +23,7 @@
 #include <cctype>
 #include <cstdint>
 #include <functional>
+#include <iomanip>
 #include <memory>
 #include <optional>
 #include <sstream>
@@ -77,8 +78,22 @@ namespace sdf
   {
     os << s.val;
     return os;
+  }  
+
+  template<>
+  inline std::ostream& operator<<(std::ostream &os, ParamStreamer<double> s)
+  {
+    os << std::setprecision(std::numeric_limits<double>::max_digits10) << s.val;
+    return os;
   }
 
+  template<>
+  inline std::ostream& operator<<(std::ostream &os, ParamStreamer<float> s)
+  {
+    os << std::setprecision(std::numeric_limits<float>::max_digits10) << s.val;
+    return os;
+  }
+
   template<class... Ts>
   std::ostream& operator<<(std::ostream& os,
                            ParamStreamer<std::variant<Ts...>> sv)

diff --git a/test/integration/model/test_model_with_frames/model.sdf b/test/integration/model/test_model_with_frames/model.sdf
@@ -13,15 +13,15 @@
         <pose relative_to="F2"/>
         <geometry>
           <sphere>
-            <radius>1</radius>
+            <radius>1.5707963267948966</radius>
           </sphere>
         </geometry>
       </visual>
       <collision name="C1">
         <pose relative_to="__model__"/>
         <geometry>
           <sphere>
-            <radius>1</radius>
+            <radius>0.78539816339744828</radius>
           </sphere>
         </geometry>
       </collision>

diff --git a/test/integration/nested_model_with_frames_expected.sdf b/test/integration/nested_model_with_frames_expected.sdf
@@ -17,15 +17,15 @@
           <pose relative_to='M1::F2'>0 0 0 0 -0 0</pose>
           <geometry>
             <sphere>
-              <radius>1</radius>
+              <radius>1.5707963267948966</radius>
             </sphere>
           </geometry>
         </visual>
         <collision name='C1'>
           <pose relative_to='M1::__model__'>0 0 0 0 -0 0</pose>
           <geometry>
             <sphere>
-              <radius>1</radius>
+              <radius>0.78539816339744828</radius>
             </sphere>
           </geometry>
         </collision>

diff --git a/test/integration/two_level_nested_model_with_frames_expected.sdf b/test/integration/two_level_nested_model_with_frames_expected.sdf
@@ -20,15 +20,15 @@
           <pose relative_to='M1::test_model_with_frames::F2'>0 0 0 0 -0 0</pose>
           <geometry>
             <sphere>
-              <radius>1</radius>
+              <radius>1.5707963267948966</radius>
             </sphere>
           </geometry>
         </visual>
         <collision name='C1'>
           <pose relative_to='M1::test_model_with_frames::__model__'>0 0 0 0 -0 0</pose>
           <geometry>
             <sphere>
-              <radius>1</radius>
+              <radius>0.78539816339744828</radius>
             </sphere>
           </geometry>
         </collision>