Merged in hide_frame_semantics_1 (pull request gazebosim#622)

[Citadel] Hide frame semantics implementation part 1 Approved-by: Louise Poubel <lupoubel@hotmail.com>
kjeppesen1 · Dec 5, 2019 · 77e15bb · 77e15bb
2 parents 3c3f858 + 624c68e
commit 77e15bb
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diff --git a/Changelog.md b/Changelog.md
@@ -73,6 +73,9 @@
 1. DOM API: deprecate `(Set)?Pose` API and replace with `(Set)?RawPose`
     * [Pull request 599](https://bitbucket.org/osrf/sdformat/pull-requests/599)
 
+1. Hide FrameSemantics implementation.
+    * [Pull request 622](https://bitbucket.org/osrf/sdformat/pull-requests/622)
+
 ## SDFormat 8.0
 
 ### SDFormat 8.X.X (201X-XX-XX)

diff --git a/Migration.md b/Migration.md
@@ -23,19 +23,6 @@ but with improved human-readability..
     + Errors ResolveAttachedToBody(std::string&) const
     + sdf::SemanticPose SemanticPose() const
 
-1. **sdf/FrameSemantics.hh**
-    + struct FrameAttachedToGraph
-    + Errors buildFrameAttachedToGraph(FrameAttachedToGraph&, const Model\*)
-    + Errors buildFrameAttachedToGraph(FrameAttachedToGraph&, const World\*)
-    + Errors validateFrameAttachedToGraph(const FrameAttachedToGraph\*)
-    + Errors resolveFrameAttachedToBody(std::string&, const FrameAttachedToGraph\*, const std::string&)
-    + struct PoseRelativeToGraph
-    + Errors buildPoseRelativeToGraph(PoseRelativeToGraph&, const Model\*)
-    + Errors buildPoseRelativeToGraph(PoseRelativeToGraph&, const World\*)
-    + Errors validatePoseRelativeToGraph(const PoseRelativeToGraph\*)
-    + Errors resolvePoseRelativeToRoot(ignition::math::Pose3d&, const PoseRelativeToGraph\*, const std::string&)
-    + Errors resolvePose(ignition::math::Pose3d&, const PoseRelativeToGraph\*, const std::string&, const std::string&)
-
 1. **sdf/Joint.hh**
     + sdf::SemanticPose SemanticPose() const
 

diff --git a/include/sdf/CMakeLists.txt b/include/sdf/CMakeLists.txt
@@ -16,7 +16,6 @@ set (headers
   Exception.hh
   Filesystem.hh
   Frame.hh
-  FrameSemantics.hh
   Geometry.hh
   Gui.hh
   Imu.hh

diff --git a/include/sdf/Collision.hh b/include/sdf/Collision.hh
@@ -21,7 +21,6 @@
 #include <string>
 #include <ignition/math/Pose3.hh>
 #include "sdf/Element.hh"
-#include "sdf/FrameSemantics.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
@@ -35,6 +34,7 @@ namespace sdf
   // Forward declaration.
   class CollisionPrivate;
   class Geometry;
+  struct PoseRelativeToGraph;
 
   /// \brief A collision element descibes the collision properties associated
   /// with a link. This can be different from the visual properties of a link.

diff --git a/include/sdf/Frame.hh b/include/sdf/Frame.hh
@@ -21,7 +21,6 @@
 #include <string>
 #include <ignition/math/Pose3.hh>
 #include "sdf/Element.hh"
-#include "sdf/FrameSemantics.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
@@ -34,6 +33,8 @@ namespace sdf
   //
   // Forward declaration.
   class FramePrivate;
+  struct FrameAttachedToGraph;
+  struct PoseRelativeToGraph;
 
   /// \brief A Frame element descibes the properties associated with an
   /// explicit frame defined in a Model or World.

diff --git a/include/sdf/FrameSemantics.hh b/include/sdf/FrameSemantics.hh
@@ -25,7 +25,6 @@
 
 #include "sdf/Error.hh"
 #include "sdf/Types.hh"
-#include "sdf/system_util.hh"
 
 /// \ingroup sdf_frame_semantics
 /// \brief namespace for Simulation Description Format Frame Semantics Utilities
@@ -64,7 +63,7 @@ namespace sdf
   };
 
   /// \brief Data structure for frame attached_to graphs for Model or World.
-  struct SDFORMAT_VISIBLE FrameAttachedToGraph
+  struct FrameAttachedToGraph
   {
     /// \brief A DirectedGraph with a vertex for each frame and edges pointing
     /// to the frame to which another frame is attached. Each vertex stores
@@ -81,7 +80,7 @@ namespace sdf
   };
 
   /// \brief Data structure for pose relative_to graphs for Model or World.
-  struct SDFORMAT_VISIBLE PoseRelativeToGraph
+  struct PoseRelativeToGraph
   {
     /// \brief A DirectedGraph with a vertex for each explicit or implicit
     /// frame and edges pointing to a given frame from its relative-to frame.
@@ -104,31 +103,27 @@ namespace sdf
   /// \param[out] _out Graph object to write.
   /// \param[in] _model Model from which to build attached_to graph.
   /// \return Errors.
-  SDFORMAT_VISIBLE
   Errors buildFrameAttachedToGraph(
               FrameAttachedToGraph &_out, const Model *_model);
 
   /// \brief Build a FrameAttachedToGraph for a world.
   /// \param[out] _out Graph object to write.
   /// \param[in] _world World from which to build attached_to graph.
   /// \return Errors.
-  SDFORMAT_VISIBLE
   Errors buildFrameAttachedToGraph(
               FrameAttachedToGraph &_out, const World *_world);
 
   /// \brief Build a PoseRelativeToGraph for a model.
   /// \param[out] _out Graph object to write.
   /// \param[in] _model Model from which to build attached_to graph.
   /// \return Errors.
-  SDFORMAT_VISIBLE
   Errors buildPoseRelativeToGraph(
               PoseRelativeToGraph &_out, const Model *_model);
 
   /// \brief Build a PoseRelativeToGraph for a world.
   /// \param[out] _out Graph object to write.
   /// \param[in] _world World from which to build attached_to graph.
   /// \return Errors.
-  SDFORMAT_VISIBLE
   Errors buildPoseRelativeToGraph(
               PoseRelativeToGraph &_out, const World *_world);
 
@@ -137,14 +132,12 @@ namespace sdf
   /// of outbound edges for each vertex and checking for graph cycles.
   /// \param[in] _in Graph object to validate.
   /// \return Errors.
-  SDFORMAT_VISIBLE
   Errors validateFrameAttachedToGraph(const FrameAttachedToGraph &_in);
 
   /// \brief Confirm that PoseRelativeToGraph is valid by checking the number
   /// of outbound edges for each vertex and checking for graph cycles.
   /// \param[in] _in Graph object to validate.
   /// \return Errors.
-  SDFORMAT_VISIBLE
   Errors validatePoseRelativeToGraph(const PoseRelativeToGraph &_in);
 
   /// \brief Resolve the attached-to body for a given frame. Following the
@@ -157,7 +150,6 @@ namespace sdf
   /// vertex with this name.
   /// \return Errors if the graph is invalid or the frame does not lead to
   /// a link or world frame.
-  SDFORMAT_VISIBLE
   Errors resolveFrameAttachedToBody(
       std::string &_attachedToBody,
       const FrameAttachedToGraph &_in,
@@ -169,7 +161,6 @@ namespace sdf
   /// \param[in] _graph PoseRelativeToGraph to read from.
   /// \param[in] _vertexName Name of vertex whose pose is to be computed.
   /// \return Errors.
-  SDFORMAT_VISIBLE
   Errors resolvePoseRelativeToRoot(
       ignition::math::Pose3d &_pose,
       const PoseRelativeToGraph &_graph,
@@ -182,7 +173,6 @@ namespace sdf
   /// \param[in] _resolveTo Name of frame relative to which the pose is
   /// to be resolved.
   /// \return Errors.
-  SDFORMAT_VISIBLE
   Errors resolvePose(
       ignition::math::Pose3d &_pose,
       const PoseRelativeToGraph &_graph,

diff --git a/include/sdf/Joint.hh b/include/sdf/Joint.hh
@@ -21,7 +21,6 @@
 #include <string>
 #include <ignition/math/Pose3.hh>
 #include "sdf/Element.hh"
-#include "sdf/FrameSemantics.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
@@ -36,6 +35,7 @@ namespace sdf
   // Forward declarations.
   class JointAxis;
   class JointPrivate;
+  struct PoseRelativeToGraph;
 
   /// \enum JointType
   /// \brief The set of joint types. INVALID indicates that joint type has

diff --git a/include/sdf/JointAxis.hh b/include/sdf/JointAxis.hh
@@ -21,7 +21,6 @@
 #include <string>
 #include <ignition/math/Vector3.hh>
 #include "sdf/Element.hh"
-#include "sdf/FrameSemantics.hh"
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
 #include "sdf/system_util.hh"
@@ -34,6 +33,7 @@ namespace sdf
 
   // Forward declare private data class.
   class JointAxisPrivate;
+  struct PoseRelativeToGraph;
 
   /// \brief Parameters related to the axis of rotation for rotational joints,
   /// and the axis of translation for prismatic joints.

diff --git a/include/sdf/Light.hh b/include/sdf/Light.hh
@@ -23,7 +23,6 @@
 #include <ignition/math/Angle.hh>
 
 #include "sdf/Element.hh"
-#include "sdf/FrameSemantics.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
@@ -37,6 +36,7 @@ namespace sdf
 
   // Forward declare private data class.
   class LightPrivate;
+  struct PoseRelativeToGraph;
 
   /// \enum LightType
   /// \brief The set of light types. INVALID indicates that light type has

diff --git a/include/sdf/Link.hh b/include/sdf/Link.hh
@@ -21,7 +21,6 @@
 #include <string>
 #include <ignition/math/Pose3.hh>
 #include "sdf/Element.hh"
-#include "sdf/FrameSemantics.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
@@ -40,6 +39,7 @@ namespace sdf
   class Sensor;
   class Visual;
   class LinkPrivate;
+  struct PoseRelativeToGraph;
 
   class SDFORMAT_VISIBLE Link
   {

diff --git a/include/sdf/Model.hh b/include/sdf/Model.hh
@@ -21,7 +21,6 @@
 #include <string>
 #include <ignition/math/Pose3.hh>
 #include "sdf/Element.hh"
-#include "sdf/FrameSemantics.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
 #include "sdf/sdf_config.h"
@@ -38,6 +37,7 @@ namespace sdf
   class Joint;
   class Link;
   class ModelPrivate;
+  struct PoseRelativeToGraph;
 
   class SDFORMAT_VISIBLE Model
   {

diff --git a/include/sdf/SemanticPose.hh b/include/sdf/SemanticPose.hh
@@ -41,6 +41,7 @@ namespace sdf
 
   // Forward declare private data class.
   class SemanticPosePrivate;
+  struct PoseRelativeToGraph;
 
   /// \brief SemanticPose is a data structure that can be used by different
   /// DOM objects to resolve poses on a PoseRelativeToGraph. This object holds

diff --git a/include/sdf/Sensor.hh b/include/sdf/Sensor.hh
@@ -21,7 +21,6 @@
 #include <string>
 #include <ignition/math/Pose3.hh>
 #include "sdf/Element.hh"
-#include "sdf/FrameSemantics.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
 #include "sdf/system_util.hh"
@@ -40,6 +39,7 @@ namespace sdf
   class Lidar;
   class Magnetometer;
   class SensorPrivate;
+  struct PoseRelativeToGraph;
 
   /// \enum SensorType
   /// \brief The set of sensor types.

diff --git a/include/sdf/Visual.hh b/include/sdf/Visual.hh
@@ -23,7 +23,6 @@
 #include "sdf/Box.hh"
 #include "sdf/Cylinder.hh"
 #include "sdf/Element.hh"
-#include "sdf/FrameSemantics.hh"
 #include "sdf/Material.hh"
 #include "sdf/Plane.hh"
 #include "sdf/SemanticPose.hh"
@@ -41,6 +40,7 @@ namespace sdf
   // Forward declarations.
   class VisualPrivate;
   class Geometry;
+  struct PoseRelativeToGraph;
 
   class SDFORMAT_VISIBLE Visual
   {

diff --git a/src/Frame.cc b/src/Frame.cc
@@ -19,6 +19,7 @@
 #include "sdf/Frame.hh"
 #include "sdf/Error.hh"
 #include "sdf/Types.hh"
+#include "sdf/FrameSemantics.hh"
 #include "Utils.hh"
 
 using namespace sdf;

diff --git a/src/JointAxis.cc b/src/JointAxis.cc
@@ -18,6 +18,7 @@
 #include <ignition/math/Vector3.hh>
 #include "sdf/Error.hh"
 #include "sdf/JointAxis.hh"
+#include "sdf/FrameSemantics.hh"
 
 using namespace sdf;
 

diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
@@ -12,7 +12,6 @@ set(tests
   fixed_joint_reduction.cc
   force_torque_sensor.cc
   frame.cc
-  frame_semantics.cc
   geometry_dom.cc
   include.cc
   includes.cc