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Callback based API for Implementing Custom Moment of Inertia Calculators for Meshes #1304

Merged
merged 142 commits into from
Aug 30, 2023
Merged

Callback based API for Implementing Custom Moment of Inertia Calculators for Meshes #1304

merged 142 commits into from
Aug 30, 2023

Commits on Jun 13, 2023

  1. Copy sdf 1.10 to 1.11 

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Commits on Jun 19, 2023

  1. Bumped sdf 1.10 to sdf 1.11 

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Commits on Jun 30, 2023

  1. Update SDF schema version in CMakeLists.txt 

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  2. Added <material_density> element to <collision 

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  3. Added auto attribute to <inertia> tag 

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  4. Added gz::math::Material member to Collision 

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Commits on Jul 3, 2023

  1. Added MassMatrix() functions to Box, Capsule, Cylinder, Ellipsoid & S… 

    …phere

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  2. Added MassMatrix() functions to sdf::Geometry class 

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  3. Replaced gz::math::Material member of sdf::Collision with double density 

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  4. Added getter setter functions for density in sdf::Collision 

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  5. Added MassMatrix() function to sdf::Collision class 

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  6. Update Link::Load() to check for inertia auto attr & call MassMatrix … 

    …for each collision

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Commits on Jul 13, 2023

  1. Cleaned up the Code 

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Commits on Jul 17, 2023

  1. Corrected default density value 

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  2. Corrected function comments 

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Commits on Jul 18, 2023

  1. Added ParserConfig param to Collision & Geometry MassMatrix() 

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Commits on Jul 21, 2023

  1. Added function to register & get CustomMoiCalculator in ParserConfig 

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  2. Added MassMatrix() function to sdf::Mesh 

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Commits on Jul 24, 2023

  1. Added <moi_calculator_params> to <collision 

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  2. Added InterfaceMoiCalculator class 

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  3. Update ParserConfig to use InterfaceMoiCalculator 

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  4. Update Geometry::MassMatrix() to pass calculator params sdf element t… 

    …o Mesh::MassMatrix

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  5. Update Mesh::MassMatrix to pass InterfaceMoiCalculator object to calc… 

    …ulator callback

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Commits on Jul 31, 2023

  1. Changed <material_density> tag to <density> 

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  2. Updated Collision:MassMatrix() to use gz::math::Inertial object as pa… 

    …rameter

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  3. Updated Link::Load() to add inertials from multiple collisions 

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Commits on Aug 7, 2023

  1. Shifted auto attribute from <inertia> to <inertial> 

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  2. Added CalculateInertial() function to sdf::Root 

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  3. Added CalculateInertial() function to sdf::Model 

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  4. Added CalculateInertial() function to sdf::World 

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  5. Added CalculateInertial() function to sdf::Link to check for auto and… 

    … set inertials

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  6. Update Collision::MassMatrix() to set inertial pose using collision p… 

    …ose in link frame

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Commits on Aug 8, 2023

  1. Called World::CalculateInertials() in Root::Load() function 

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  2. Added check for no collisions when auto is true & return an Element M… 

    …issing Error

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Commits on Aug 10, 2023

  1. Used enforcePolicyCondition() to print <density> element missing mess… 

    …age in Collision::Load()

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  2. Restored original flow of Link::Load() to set inertial values & updat… 

    …ed CalculateInertials()

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  3. Renamed & changed MassMatrix() functions for all shapes to return gz:… 

    …:math::Inertial objects

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  4. Renamed & updated MassMatrix() function for sdf::Geometry to return o… 

    …pitonal gz::math::Inertiald object

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  5. Renamed & Updated MassMatrix() function of sdf::Collision to use Iner… 

    …tial object

Added check for geometry type before setting inertial pose

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  6. Updated call to collision inertia calculation function with the new name 

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  7. Removed print statements 

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  8. Completed codecheck 

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  9. Merge branch 'main' into jasmeet/auto_moment_of_inertia

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  10. Merge branch 'jasmeet/auto_moment_of_inertia' into jasmeet/mesh_moi_c… 

    …alculator_api
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Commits on Aug 11, 2023

  1. Removed const type qualifier from double density param for CalculateI… 

    …nertial() functions

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  2. Shifted check for density element from Collision::Load() to Collision… 

    …::CalculateInertials()

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  3. Shifted CalculateInertials() call to end of Root:Load() 

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  4. Update CalculateInertials() function in Root, World, Model, Link & Co… 

    …llision to take ParserConfig as param

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  5. Completed codecheck 

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  6. Merge branch 'jasmeet/auto_moment_of_inertia' into jasmeet/mesh_moi_c… 

    …alculator_api
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  7. Removed const specifier for double density from Geometry & Collision 

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  8. Merge branch 'jasmeet/auto_moment_of_inertia' into jasmeet/mesh_moi_c… 

    …alculator_api
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Commits on Aug 14, 2023

  1. Updated CustomMOICalculator function signature to return Inertial object 

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  2. Updated Mesh::CalculateInertial() to return inertial objecT 

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  3. Updated Geometry::CalculateInertial() to take calculator params Eleme… 

    …ntPtr as param

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  4. Shifted check for moi_calculator_params element to Collision::Calcula… 

    …teInertials()

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  5. Corrected function comments 

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  6. Included <optional> header 

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  7. Renamed <moi_calculator_params> element to <auto_inertia_params> 

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  8. Merge branch 'jasmeet/auto_moment_of_inertia' into jasmeet/mesh_moi_c… 

    …alculator_api
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Commits on Aug 16, 2023

  1. Renamed CustomMOICalculator std::function alias to CustomInertiaCalcu… 

    …lator

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  2. Added check for empty mesh filePath before calling custom calculator 

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  3. Renamed InterfaceMOICalculator class to CustomInertiaCalcProperties 

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  4. Removed std::cout statements 

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  5. Removed const specifier for double density 

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  6. Completed codecheck 

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  7. Added default values for density & calculatorParams ElementPtr 

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  8. Updated function comments 

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Commits on Aug 17, 2023

  1. Removed warning for missing <inertial> element 

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  2. Added warning for overwritting of user given inertial value sif auto … 

    …is true

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  3. Removed call to CalculateInertial() from Root::Load() 

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Commits on Aug 21, 2023

  1. Corrected codecheck 

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Commits on Aug 22, 2023

  1. Added unit tests for CalculateInertial() function in Box, Capsule, Cy… 

    …linder, Ellipsoid & Sphere

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  2. Added unit tests for CalculateInertial() in Geometry 

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  3. Updated construction unit test of Collision with checks for density v… 

    …alue

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  4. Updated CalculateInertial() unit test to test for std::nullopt return… 

    … in case of invalid inertial

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  5. Added unit tests for CalculateInertial() in sdf::Collision 

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  6. Completed codecheck 

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  7. Merge branch 'main' into jasmeet/auto_moment_of_inertia

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Commits on Aug 24, 2023

  1. Added enum class for CalculateInertial() configuration 

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  2. Added check for CalculateInertialConfiguration in Root::Load() 

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  3. Renamed CALCULATE_AND_SAVE value to SAVE_CALCULATION in COnfigureCalc… 

    …ulateInertial enum

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  4. Added boolean autoInertiaSaved member to link 

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  5. Added check for autoInertiaSaved & SAVE_CALCULATION configuration in … 

    …CalculateInertial() function

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  6. Completed codecheck 

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  7. Merge branch 'main' into jasmeet/auto_moment_of_inertia

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  8. Added //inertial/density to the spec 

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  9. Updated Geometry::CalculateInertial() to accept density & parser conf… 

    …ig as parameter

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  10. Updated Geometry::CalculateInertial() to give warning when a not supp… 

    …orted geometry type is used

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  11. Updated Geometry unit test for not supported geom type 

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  12. Updated Collision::ToElement() to set density 

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  13. Added unit tests for collision pose relative to some other frame test… 

    … case

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  14. Completed codecheck 

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  15. Added unit tests for ParserConfig 

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  16. Added unit tests for Link 

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  17. Replaced tabs with spaces in sdf string in Link_Test 

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  18. Merge branch 'jasmeet/auto_moment_of_inertia' into jasmeet/mesh_moi_c… 

    …alculator_api
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  19. Updated ParserConfig Unit test to test SetCalculateInertialConfigurat… 

    …ion()

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  20. Added test for CalculateInertial() called with auto set to false 

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  21. Added unit test for World::CalculateInertial() 

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  22. Added unit test for CalculateInertial() call with SAVE_CALCULATION co… 

    …nfiguration

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  23. Merge branch 'jasmeet/auto_moment_of_inertia' into jasmeet/mesh_moi_c… 

    …alculator_api
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  24. Updated CalculateInertial() calls in Geometry Unit tests 

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Commits on Aug 25, 2023

  1. Included missing header files 

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  2. Merge branch 'jasmeet/auto_moment_of_inertia' into jasmeet/mesh_moi_c… 

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  3. Included missing header files in Mesh and CustomInertiCalcProperties 

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  4. Made model member in CustomInertiaCalcProperties as optional 

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  5. Added unit test for CustomInertiaCalcProperties 

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  6. Added default nullptr value for autoInertiaParams elementptr 

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  7. Added unit test for the use of <auto_inertia_params> element 

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  8. Added sdf::Errors object as parameter for Mesh::CalculateInertial() 

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  9. Codecheck corrections 

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  10. Updated Geometry CalculateInertial() Unit test for mesh geom type 

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  11. Added unit tests for Mesh::CalculateInertial() 

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  12. Added <auto_inertia_params> element to <inertial> element 

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Commits on Aug 26, 2023

  1. Removed redundant sdf/Model.hh include from Collision_TEST 

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Commits on Aug 27, 2023

  1. Merge branch 'main' into jasmeet/mesh_moi_calculator_api

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  2. Merge branch 'main' into jasmeet/auto_moment_of_inertia

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Commits on Aug 28, 2023

  1. Updated CalculateInertial() documentation for Box, Capsule, Cylinder,… 

    … Ellipsoid & Sphere

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  2. Updated Collision::Density() & Collision::SetDensity() docs 

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  3. Updated Root::CalculateInertial() docs 

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  4. Updated description for <density> element in <inertial> 

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  5. Added doc for autoInertiaSaved variable in sdf::Link 

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  6. Update function APIs 

    - Updated all functions returning Errors object to take errors object as an output param
- Updated function params to take errors as a first params

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  7. Added flag to track if density was set at load 

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  8. Added separate variable to track if auto inertia is enabled or not 

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  9. Completed codecheck 

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  10. Merge branch 'jasmeet/auto_moment_of_inertia' into jasmeet/mesh_moi_c… 

    …alculator_api
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Commits on Aug 29, 2023

  1. Corrected function docs in Mesh & Geometry class 

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  2. Updated Collision::CalculateInertial() API 

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  3. Updated check for geometry type before resolving inertial pose 

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  4. Updated Root::CalculateInertial() docs 

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  5. Added const specifier to variables where needed 

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  6. Merge branch 'jasmeet/auto_moment_of_inertia' into jasmeet/mesh_moi_c… 

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Commits on Aug 30, 2023

  1. Rename CalculateInertials() API in Root, World, Model & Link 

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  2. Merge branch 'jasmeet/auto_moment_of_inertia' into jasmeet/mesh_moi_c… 

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  3. Rename function call in Collision_TEST 

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  4. Merge branch 'sdf14' into jasmeet/mesh_moi_calculator_api

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  5. Completed codecheck 

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  6. Updated //inertial/auto_inertia_params element description 

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  7. Updated Mesh::CalculateInertial() API to take errors as first param 

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  8. Completed codecheck 

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