Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Translate poses of nested models inside other nested models (sdf6) #596

Merged
merged 4 commits into from
Jun 30, 2021
Merged

Translate poses of nested models inside other nested models (sdf6) #596

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
de42210
Translate poses of nested models inside other nested models
j-rivero Jun 16, 2021
8f3ed35
Update test/integration/model/box_with_submodel/model.config
j-rivero Jun 28, 2021
bb9d767
Merge branch 'sdf6' of github.com:osrf/sdformat into fix_pose_nested_…
j-rivero Jun 30, 2021
3d016b3
Include missing check in merge
j-rivero Jun 30, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion src/parser.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1084,7 +1084,7 @@ void addNestedModel(ElementPtr _sdf, ElementPtr _includeSDF)
replace[elemName] = newName;
}

if (elem->GetName() == "link")
if ((elem->GetName() == "link") || (elem->GetName() == "model"))
{
if (elem->HasElementDescription("pose"))
{
Expand Down
60 changes: 60 additions & 0 deletions test/integration/frame.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1255,3 +1255,63 @@ TEST(Frame, IncludeFrame)
EXPECT_EQ(modelPoseElem->Get<ignition::math::Pose3d>(),
ignition::math::Pose3d(5, -2, 1, 0, 0, 0));
}

////////////////////////////////////////
// Test parsing a include element that has a pose element and includes a
// submodel
TEST(Frame, IncludeFrameWithSubmodel)
{
const std::string MODEL_PATH =
sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "integration",
"model", "box_with_submodel");

std::ostringstream stream;
std::string version = SDF_VERSION;
stream
<< "<sdf version='" << version << "'>"
<< "<world name='default'>"
<< "<model name='top_level_model'>"
<< " <include>"
<< " <static>false</static>"
<< " <pose>5 5 0 0 0 0</pose>"
<< " <uri>" + MODEL_PATH +"</uri>"
<< " </include>"
<< "</model>"
<< "</world>"
<< "</sdf>";

sdf::SDFPtr sdfParsed(new sdf::SDF());
sdf::init(sdfParsed);
ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed));
sdf::ElementPtr worldElem = sdfParsed->Root()->GetElement("world");

/* top level model: using include will merge top_level_model and box_with_submodel into:
* <model name='top_level_model'>
* <link name='box_with_submodel::link'>
* <pose frame=''>5 5 0 0 -0 0</pose> <<-- pose has been translated
* </link>
* <model name='box_with_submodel::submodel_box_with_submodel'>
* ...
* </model>
* </model>
*/
sdf::ElementPtr modelElem = worldElem->GetElement("model");
EXPECT_EQ(modelElem->Get<std::string>("name"), "top_level_model");
sdf::ElementPtr modelPoseElem = modelElem->GetElement("link")->GetElement("pose");
EXPECT_EQ(modelPoseElem->Get<ignition::math::Pose3d>(),
ignition::math::Pose3d(5, 5, 0, 0, 0, 0));
/* submodel: pose from parent is translated to model. links are the same
* ...
* <model name='box_with_submodel::submodel_box_with_submodel'>
* <link name='submodel_link'>
* <pose frame=''>0 0 0 0 -0 0</pose>
* </link>
* <pose frame=''>5 5 0 0 -0 0</pose>
* </model>
*/
sdf::ElementPtr subModelElem = modelElem->GetElement("model");
EXPECT_EQ(subModelElem->Get<std::string>("name"), "box_with_submodel::submodel_of_box_with_submodel");
sdf::ElementPtr subModelPoseElem = subModelElem->GetElement("pose");
EXPECT_EQ(subModelPoseElem->Get<ignition::math::Pose3d>(),
ignition::math::Pose3d(5, 5, 0, 0, 0, 0));
}
15 changes: 15 additions & 0 deletions test/integration/model/box_with_submodel/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
<?xml version="1.0"?>
<model>
<name>BoxWithSubmodel</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>

<author>
<name>Jose Luis Rivero</name>
<email>[email protected]</email>
</author>

<description>
A box with a nested model
</description>
</model>
13 changes: 13 additions & 0 deletions test/integration/model/box_with_submodel/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="box_with_submodel">
<link name="link">
<pose>0 0 0 0 0 0</pose>
</link>
<model name="submodel_of_box_with_submodel">
<link name="submodel_link">
<pose>0 0 0 0 0 0</pose>
</link>
</model>
</model>
</sdf>