Merge branch 'master' into nlamprian/force_torque

.github/ci/packages.apt

@@ -0,0 +1,8 @@
+libignition-cmake2-dev
+libignition-math6-dev
+libignition-tools-dev
+libtinyxml2-dev
+liburdfdom-dev
+libxml2-utils
+python-psutil
+ruby-dev

.github/workflows/linux-ubuntu-bionic.yml

@@ -16,7 +16,7 @@ jobs:
         sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" > /etc/apt/sources.list.d/gazebo-stable.list';
         sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743;
         sudo apt-get update;
-        sudo apt -y install cmake build-essential curl g++-8 git mercurial libtinyxml2-dev libxml2-utils ruby-dev python-psutil cppcheck;
+        sudo apt -y install cmake build-essential curl g++-8 git cppcheck;
         sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 800 --slave /usr/bin/g++ g++ /usr/bin/g++-8 --slave /usr/bin/gcov gcov /usr/bin/gcov-8;
         # workaround for https://github.com/rubygems/rubygems/issues/3068
         # suggested in https://github.com/rubygems/rubygems/issues/3068#issuecomment-574775885
@@ -32,10 +32,7 @@ jobs:
     - name: Install ignition dependencies
       run: |
         sudo apt -y install \
-            libignition-cmake2-dev \
-            libignition-math6-dev \
-            libignition-tools-dev \
-            liburdfdom-dev;
+            $(sort -u $(find .github -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt') | tr '\n' ' ')
     - name: cmake
       run: |
         mkdir build;

Changelog.md

@@ -7,6 +7,15 @@
 1. Initial version of SDFormat 1.8 specification.
     * [BitBucket pull request 682](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/682)
 
+1. SDFormat 1.8: Support specifying frames as joint child/parent.
+    * [Pull request 304](https://github.com/osrf/sdformat/pull/304)
+
+1. SDFormat 1.8: Add support for `//include/placement_frame` and `//model/@placement_frame`.
+    * [Pull request 324](https://github.com/osrf/sdformat/pull/324)
+
+1. SDFormat 1.8: Support explicit nested canonical links with :: syntax.
+    * [Pull request 353](https://github.com/osrf/sdformat/pull/353)
+
 1. SDFormat 1.8: Deprecate //joint/axis/initial_position.
     * [BitBucket pull request 683](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/683)
 

Migration.md

@@ -20,6 +20,19 @@ but with improved human-readability..
     + Errors ResolveChildLink(std::string&) const
     + Errors ResolveParentLink(std::string&) const
 
+### Modifications
+
+1. **sdf/Model.hh**: the following methods now accept nested names relative to
+      the model's scope 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.
+    + const Frame \*FrameByName(const std::string &) const
+    + const Joint \*JointByName(const std::string &) const
+    + const Link \*LinkByName(const std::string &) const
+    + bool FrameNameExists(const std::string &) const
+    + bool JointNameExists(const std::string &) const
+    + bool LinkNameExists(const std::string &) const
+
 ## SDFormat 9.x to 10.0
 
 ### Modifications

README.md

@@ -35,6 +35,10 @@ TODO(eric.cousineau): Move terminology section to sdf_tutorials?
 
 ## Installation
 
+**Note:** the `master` branch is under development for `libsdformat11` and is
+currently unstable. A release branch (`sdf10`, `sdf9`, etc.) is recommended
+for most users.
+
 Standard installation can be performed in UNIX systems using the following
 steps:
 

include/sdf/Collision.hh

@@ -36,6 +36,7 @@ namespace sdf
   class Geometry;
   class Surface;
   struct PoseRelativeToGraph;
+  template <typename T> class ScopedGraph;
 
   /// \brief A collision element descibes the collision properties associated
   /// with a link. This can be different from the visual properties of a link.
@@ -141,12 +142,12 @@ namespace sdf
     /// \param[in] _xmlParentName Name of xml parent object.
     private: void SetXmlParentName(const std::string &_xmlParentName);
 
-    /// \brief Give a weak pointer to the PoseRelativeToGraph to be used
-    /// for resolving poses. This is private and is intended to be called by
+    /// \brief Give the scoped PoseRelativeToGraph to be used for resolving
+    /// poses. This is private and is intended to be called by
     /// Link::SetPoseRelativeToGraph.
-    /// \param[in] _graph Weak pointer to PoseRelativeToGraph.
+    /// \param[in] _graph scoped PoseRelativeToGraph object.
     private: void SetPoseRelativeToGraph(
-        std::weak_ptr<const PoseRelativeToGraph> _graph);
+        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
     /// \brief Allow Link::SetPoseRelativeToGraph to call SetXmlParentName
     /// and SetPoseRelativeToGraph, but Link::SetPoseRelativeToGraph is

include/sdf/Frame.hh

@@ -35,6 +35,7 @@ namespace sdf
   class FramePrivate;
   struct FrameAttachedToGraph;
   struct PoseRelativeToGraph;
+  template <typename T> class ScopedGraph;
 
   /// \brief A Frame element descibes the properties associated with an
   /// explicit frame defined in a Model or World.
@@ -133,9 +134,8 @@ namespace sdf
     public: sdf::ElementPtr Element() const;
 
     /// \brief Resolve the attached-to body of this frame from the
-    /// FrameAttachedToGraph. If this is in a __model__ scope, it returns
-    /// the name of a link. In the world scope, it returns the name of a
-    /// model or the world.
+    /// FrameAttachedToGraph. Generally, it resolves to the name of a link, but
+    /// if it is in the world scope, it can resolve to "world".
     /// \param[out] _body Name of body to which this frame is attached.
     /// \return Errors.
     public: Errors ResolveAttachedToBody(std::string &_body) const;
@@ -145,19 +145,19 @@ namespace sdf
     /// \return SemanticPose object for this link.
     public: sdf::SemanticPose SemanticPose() const;
 
-    /// \brief Give a weak pointer to the FrameAttachedToGraph to be used
-    /// for resolving attached bodies. This is private and is intended to
-    /// be called by Model::Load or World::Load.
-    /// \param[in] _graph Weak pointer to FrameAttachedToGraph.
+    /// \brief Give a scoped FrameAttachedToGraph to be used for resolving
+    /// attached bodies. This is private and is intended to be called by
+    /// Model::Load or World::Load.
+    /// \param[in] _graph scoped FrameAttachedToGraph object.
     private: void SetFrameAttachedToGraph(
-        std::weak_ptr<const FrameAttachedToGraph> _graph);
+        sdf::ScopedGraph<FrameAttachedToGraph> _graph);
 
-    /// \brief Give a weak pointer to the PoseRelativeToGraph to be used
-    /// for resolving poses. This is private and is intended to be called by
-    /// Model::Load or World::Load.
-    /// \param[in] _graph Weak pointer to PoseRelativeToGraph.
+    /// \brief Give the scoped PoseRelativeToGraph to be used for resolving
+    /// poses. This is private and is intended to be called by Model::Load or
+    /// World::Load.
+    /// \param[in] _graph scoped PoseRelativeToGraph object.
     private: void SetPoseRelativeToGraph(
-        std::weak_ptr<const PoseRelativeToGraph> _graph);
+        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
     /// \brief Allow Model::Load and World::Load to call SetPoseRelativeToGraph.
     friend class Model;

include/sdf/Joint.hh

@@ -37,6 +37,7 @@ namespace sdf
   class JointPrivate;
   struct FrameAttachedToGraph;
   struct PoseRelativeToGraph;
+  template <typename T> class ScopedGraph;
 
   /// \enum JointType
   /// \brief The set of joint types. INVALID indicates that joint type has
@@ -221,19 +222,18 @@ namespace sdf
     /// \return SemanticPose object for this link.
     public: sdf::SemanticPose SemanticPose() const;
 
-    /// \brief Give a weak pointer to the FrameAttachedToGraph to be used
-    /// for resolving parent and child link names. This is private and is
-    /// intended to be called by  Model::Load.
-    /// \param[in] _graph Weak pointer to FrameAttachedToGraph.
+    /// \brief Give the scoped FrameAttachedToGraph to be used for resolving
+    /// parent and child link names. This is private and is intended to be
+    /// called by Model::Load.
+    /// \param[in] _graph scoped FrameAttachedToGraph object.
     private: void SetFrameAttachedToGraph(
-        std::weak_ptr<const FrameAttachedToGraph> _graph);
+        sdf::ScopedGraph<FrameAttachedToGraph> _graph);
 
-    /// \brief Give a weak pointer to the PoseRelativeToGraph to be used
-    /// for resolving poses. This is private and is intended to be called by
-    /// Model::Load.
-    /// \param[in] _graph Weak pointer to PoseRelativeToGraph.
+    /// \brief Give the scoped PoseRelativeToGraph to be used for resolving
+    /// poses. This is private and is intended to be called by Model::Load.
+    /// \param[in] _graph scoped PoseRelativeToGraph object.
     private: void SetPoseRelativeToGraph(
-        std::weak_ptr<const PoseRelativeToGraph> _graph);
+        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
     /// \brief Allow Model::Load to call SetPoseRelativeToGraph.
     friend class Model;

include/sdf/JointAxis.hh

@@ -35,6 +35,7 @@ namespace sdf
   // Forward declare private data class.
   class JointAxisPrivate;
   struct PoseRelativeToGraph;
+  template <typename T> class ScopedGraph;
 
   /// \brief Parameters related to the axis of rotation for rotational joints,
   /// and the axis of translation for prismatic joints.
@@ -269,12 +270,12 @@ namespace sdf
     /// \param[in] _xmlParentName Name of xml parent object.
     private: void SetXmlParentName(const std::string &_xmlParentName);
 
-    /// \brief Give a weak pointer to the PoseRelativeToGraph to be used
-    /// for resolving poses. This is private and is intended to be called
-    /// by Joint::SetPoseRelativeToGraph.
-    /// \param[in] _graph Weak pointer to PoseRelativeToGraph.
+    /// \brief Give the scoped PoseRelativeToGraph to be used for resolving
+    /// poses. This is private and is intended to be called by
+    /// Joint::SetPoseRelativeToGraph.
+    /// \param[in] _graph scoped PoseRelativeToGraph object.
     private: void SetPoseRelativeToGraph(
-        std::weak_ptr<const PoseRelativeToGraph> _graph);
+        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
     /// \brief Allow Joint::SetPoseRelativeToGraph to propagate.
     friend class Joint;

include/sdf/Light.hh

@@ -37,6 +37,7 @@ namespace sdf
   // Forward declare private data class.
   class LightPrivate;
   struct PoseRelativeToGraph;
+  template <typename T> class ScopedGraph;
 
   /// \enum LightType
   /// \brief The set of light types. INVALID indicates that light type has
@@ -273,12 +274,12 @@ namespace sdf
     /// \param[in] _xmlParentName Name of xml parent object.
     private: void SetXmlParentName(const std::string &_xmlParentName);
 
-    /// \brief Give a weak pointer to the PoseRelativeToGraph to be used
-    /// for resolving poses. This is private and is intended to be called by
+    /// \brief Give the scoped PoseRelativeToGraph to be used for resolving
+    /// poses. This is private and is intended to be called by
     /// Link::SetPoseRelativeToGraph or World::Load.
-    /// \param[in] _graph Weak pointer to PoseRelativeToGraph.
+    /// \param[in] _graph scoped PoseRelativeToGraph object.
     private: void SetPoseRelativeToGraph(
-        std::weak_ptr<const PoseRelativeToGraph> _graph);
+        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
     /// \brief Allow Link::SetPoseRelativeToGraph or World::Load to call
     /// SetXmlParentName and SetPoseRelativeToGraph,

include/sdf/Link.hh

@@ -40,6 +40,7 @@ namespace sdf
   class Visual;
   class LinkPrivate;
   struct PoseRelativeToGraph;
+  template <typename T> class ScopedGraph;
 
   class SDFORMAT_VISIBLE Link
   {
@@ -225,12 +226,11 @@ namespace sdf
     /// \return SemanticPose object for this link.
     public: sdf::SemanticPose SemanticPose() const;
 
-    /// \brief Give a weak pointer to the PoseRelativeToGraph to be used
-    /// for resolving poses. This is private and is intended to be called by
-    /// Model::Load.
-    /// \param[in] _graph Weak pointer to PoseRelativeToGraph.
+    /// \brief Give the scoped PoseRelativeToGraph to be used for resolving
+    /// poses. This is private and is intended to be called by Model::Load.
+    /// \param[in] _graph scoped PoseRelativeToGraph object.
     private: void SetPoseRelativeToGraph(
-        std::weak_ptr<const PoseRelativeToGraph> _graph);
+        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
     /// \brief Allow Model::Load to call SetPoseRelativeToGraph.
     friend class Model;