Merge branch 'wide_angle_camera_12' of github.com:ignitionrobotics/sdformat into wide_angle_camera_12

Author: iche033

CMakeLists.txt

@@ -27,7 +27,7 @@ project (sdformat12)
 set (SDF_PROTOCOL_VERSION 1.9)
 
 set (SDF_MAJOR_VERSION 12)
-set (SDF_MINOR_VERSION 0)
+set (SDF_MINOR_VERSION 1)
 set (SDF_PATCH_VERSION 0)
 
 set (SDF_VERSION ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION})

Changelog.md

@@ -1,5 +1,10 @@
 ## libsdformat 12.X
 
+### libsdformat 12.1.0 (2021-11-09)
+
+1. Support accessing mutable sensor types.
+    * [Pull request #737](https://github.com/ignitionrobotics/sdformat/pull/737)
+
 ### libsdformat 12.0.0 (2021-09-30)
 
 1. Make exception for plugins when checking for name uniqueness

include/sdf/Sensor.hh

@@ -256,6 +256,13 @@ namespace sdf
     /// \sa SensorType Type() const
     public: const Magnetometer *MagnetometerSensor() const;
 
+    /// \brief Get a mutable magnetometer sensor, or nullptr if this sensor type
+    /// is not a Magnetometer.
+    /// \return Pointer to the Magnetometer sensor, or nullptr if this
+    /// Sensor is not a Magnetometer.
+    /// \sa SensorType Type() const
+    public: Magnetometer *MagnetometerSensor();
+
     /// \brief Set the magnetometer sensor.
     /// \param[in] _mag The magnetometer sensor.
     public: void SetMagnetometerSensor(const Magnetometer &_mag);
@@ -267,6 +274,13 @@ namespace sdf
     /// \sa SensorType Type() const
     public: const Altimeter *AltimeterSensor() const;
 
+    /// \brief Get a mutable altimeter sensor, or nullptr if this sensor type
+    /// is not an Altimeter.
+    /// \return Pointer to the Altimeter sensor, or nullptr if this
+    /// Sensor is not a Altimeter.
+    /// \sa SensorType Type() const
+    public: Altimeter *AltimeterSensor();
+
     /// \brief Set the altimeter sensor.
     /// \param[in] _alt The altimeter sensor.
     public: void SetAltimeterSensor(const Altimeter &_alt);
@@ -278,6 +292,13 @@ namespace sdf
     /// \sa SensorType Type() const
     public: const AirPressure *AirPressureSensor() const;
 
+    /// \brief Get a mutable air pressure sensor, or nullptr if this sensor type
+    /// is not an AirPressure sensor.
+    /// \return Pointer to the AirPressure sensor, or nullptr if this
+    /// Sensor is not a AirPressure sensor.
+    /// \sa SensorType Type() const
+    public: AirPressure *AirPressureSensor();
+
     /// \brief Set the air pressure sensor.
     /// \param[in] _air The air pressure sensor.
     public: void SetAirPressureSensor(const AirPressure &_air);
@@ -293,6 +314,13 @@ namespace sdf
     /// \sa SensorType Type() const
     public: const Camera *CameraSensor() const;
 
+    /// \brief Get a mutable camera sensor, or nullptr if the
+    /// sensor does not contain a camera sensor.
+    /// \return Pointer to the sensor's camera, or nullptr if the sensor
+    /// is not a camera.
+    /// \sa SensorType Type() const
+    public: Camera *CameraSensor();
+
     /// \brief Set the NAVSAT sensor.
     /// \param[in] _navsat The NAVSAT sensor.
     public: void SetNavSatSensor(const NavSat &_navsat);
@@ -304,6 +332,13 @@ namespace sdf
     /// \sa SensorType Type() const
     public: const NavSat *NavSatSensor() const;
 
+    /// \brief Get a mutable NAVSAT sensor, or nullptr if the sensor
+    /// does not contain an NAVSAT sensor.
+    /// \return Pointer to the sensor's NAVSAT, or nullptr if the sensor
+    /// is not an NAVSAT.
+    /// \sa SensorType Type() const
+    public: NavSat *NavSatSensor();
+
     /// \brief Set the force torque sensor.
     /// \param[in] _ft The force torque sensor.
     public: void SetForceTorqueSensor(const ForceTorque &_ft);
@@ -315,6 +350,13 @@ namespace sdf
     /// \sa SensorType Type() const
     public: const ForceTorque *ForceTorqueSensor() const;
 
+    /// \brief Get a mutable force torque sensor, or nullptr if the sensor
+    /// does not contain a force torque sensor.
+    /// \return Pointer to the force torque sensor, or nullptr if the sensor
+    /// is not a force torque sensor.
+    /// \sa SensorType Type() const
+    public: ForceTorque *ForceTorqueSensor();
+
     /// \brief Set the IMU sensor.
     /// \param[in] _imu The IMU sensor.
     public: void SetImuSensor(const Imu &_imu);
@@ -326,13 +368,27 @@ namespace sdf
     /// \sa SensorType Type() const
     public: const Imu *ImuSensor() const;
 
+    /// \brief Get a mutable IMU sensor, or nullptr if the sensor
+    /// does not contain an IMU sensor.
+    /// \return Pointer to the sensor's IMU, or nullptr if the sensor
+    /// is not an IMU.
+    /// \sa SensorType Type() const
+    public: Imu *ImuSensor();
+
     /// \brief Get the lidar sensor, or nullptr if this sensor type is not a
     /// Lidar.
     /// \return Pointer to the Lidar sensor, or nullptr if this Sensor is not a
     /// Lidar.
     /// \sa SensorType Type() const
     public: const Lidar *LidarSensor() const;
 
+    /// \brief Get a mutable lidar sensor, or nullptr if this sensor type is
+    /// not a Lidar.
+    /// \return Pointer to the Lidar sensor, or nullptr if this Sensor is not a
+    /// Lidar.
+    /// \sa SensorType Type() const
+    public: Lidar *LidarSensor();
+
     /// \brief Set the lidar sensor.
     /// \param[in] _lidar The lidar sensor.
     public: void SetLidarSensor(const Lidar &_lidar);

src/Sensor.cc

@@ -521,6 +521,12 @@ const Magnetometer *Sensor::MagnetometerSensor() const
   return optionalToPointer(this->dataPtr->magnetometer);
 }
 
+/////////////////////////////////////////////////
+Magnetometer *Sensor::MagnetometerSensor()
+{
+  return optionalToPointer(this->dataPtr->magnetometer);
+}
+
 /////////////////////////////////////////////////
 void Sensor::SetMagnetometerSensor(const Magnetometer &_mag)
 {
@@ -533,6 +539,12 @@ const Altimeter *Sensor::AltimeterSensor() const
   return optionalToPointer(this->dataPtr->altimeter);
 }
 
+/////////////////////////////////////////////////
+Altimeter *Sensor::AltimeterSensor()
+{
+  return optionalToPointer(this->dataPtr->altimeter);
+}
+
 /////////////////////////////////////////////////
 void Sensor::SetAltimeterSensor(const Altimeter &_alt)
 {
@@ -545,6 +557,12 @@ const AirPressure *Sensor::AirPressureSensor() const
   return optionalToPointer(this->dataPtr->airPressure);
 }
 
+/////////////////////////////////////////////////
+AirPressure *Sensor::AirPressureSensor()
+{
+  return optionalToPointer(this->dataPtr->airPressure);
+}
+
 /////////////////////////////////////////////////
 void Sensor::SetAirPressureSensor(const AirPressure &_air)
 {
@@ -557,6 +575,12 @@ const Lidar *Sensor::LidarSensor() const
   return optionalToPointer(this->dataPtr->lidar);
 }
 
+/////////////////////////////////////////////////
+Lidar *Sensor::LidarSensor()
+{
+  return optionalToPointer(this->dataPtr->lidar);
+}
+
 /////////////////////////////////////////////////
 void Sensor::SetLidarSensor(const Lidar &_lidar)
 {
@@ -596,6 +620,12 @@ const Camera *Sensor::CameraSensor() const
   return optionalToPointer(this->dataPtr->camera);
 }
 
+/////////////////////////////////////////////////
+Camera *Sensor::CameraSensor()
+{
+  return optionalToPointer(this->dataPtr->camera);
+}
+
 /////////////////////////////////////////////////
 void Sensor::SetForceTorqueSensor(const ForceTorque &_ft)
 {
@@ -608,6 +638,12 @@ const ForceTorque *Sensor::ForceTorqueSensor() const
   return optionalToPointer(this->dataPtr->forceTorque);
 }
 
+/////////////////////////////////////////////////
+ForceTorque *Sensor::ForceTorqueSensor()
+{
+  return optionalToPointer(this->dataPtr->forceTorque);
+}
+
 /////////////////////////////////////////////////
 void Sensor::SetNavSatSensor(const NavSat &_gps)
 {
@@ -620,6 +656,12 @@ const NavSat *Sensor::NavSatSensor() const
   return optionalToPointer(this->dataPtr->navSat);
 }
 
+/////////////////////////////////////////////////
+NavSat *Sensor::NavSatSensor()
+{
+  return optionalToPointer(this->dataPtr->navSat);
+}
+
 /////////////////////////////////////////////////
 void Sensor::SetImuSensor(const Imu &_imu)
 {
@@ -631,3 +673,9 @@ const Imu *Sensor::ImuSensor() const
 {
   return optionalToPointer(this->dataPtr->imu);
 }
+
+/////////////////////////////////////////////////
+Imu *Sensor::ImuSensor()
+{
+  return optionalToPointer(this->dataPtr->imu);
+}