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Conversions.cc
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/*
* Copyright (C) 2018 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <gz/msgs/actor.pb.h>
#include <gz/msgs/atmosphere.pb.h>
#include <gz/msgs/axis_aligned_box.pb.h>
#include <gz/msgs/boxgeom.pb.h>
#include <gz/msgs/capsulegeom.pb.h>
#include <gz/msgs/conegeom.pb.h>
#include <gz/msgs/cylindergeom.pb.h>
#include <gz/msgs/ellipsoidgeom.pb.h>
#include <gz/msgs/entity.pb.h>
#include <gz/msgs/geometry.pb.h>
#include <gz/msgs/gps_sensor.pb.h>
#include <gz/msgs/gui.pb.h>
#include <gz/msgs/heightmapgeom.pb.h>
#include <gz/msgs/imu_sensor.pb.h>
#include <gz/msgs/lidar_sensor.pb.h>
#include <gz/msgs/light.pb.h>
#include <gz/msgs/material.pb.h>
#include <gz/msgs/planegeom.pb.h>
#include <gz/msgs/plugin.pb.h>
#include <gz/msgs/projector.pb.h>
#include <gz/msgs/spheregeom.pb.h>
#include <gz/msgs/sky.pb.h>
#include <gz/msgs/Utility.hh>
#include <gz/math/Angle.hh>
#include <gz/math/AxisAlignedBox.hh>
#include <gz/math/Helpers.hh>
#include <gz/math/Temperature.hh>
#include <gz/common/Console.hh>
#include <sdf/Actor.hh>
#include <sdf/Atmosphere.hh>
#include <sdf/AirPressure.hh>
#include <sdf/AirSpeed.hh>
#include <sdf/Altimeter.hh>
#include <sdf/Box.hh>
#include <sdf/Camera.hh>
#include <sdf/Capsule.hh>
#include <sdf/Cone.hh>
#include <sdf/Cylinder.hh>
#include <sdf/Ellipsoid.hh>
#include <sdf/Geometry.hh>
#include <sdf/Gui.hh>
#include <sdf/Heightmap.hh>
#include <sdf/Imu.hh>
#include <sdf/Lidar.hh>
#include <sdf/Light.hh>
#include <sdf/Magnetometer.hh>
#include <sdf/Material.hh>
#include <sdf/Mesh.hh>
#include <sdf/NavSat.hh>
#include <sdf/Pbr.hh>
#include <sdf/Plane.hh>
#include <sdf/Polyline.hh>
#include <sdf/Sphere.hh>
#include <algorithm>
#include <string>
#include "gz/sim/Conversions.hh"
#include "gz/sim/Export.hh"
#include "gz/sim/Util.hh"
using namespace gz;
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
msgs::Entity_Type gz::sim::convert(const std::string &_in)
{
msgs::Entity_Type out = msgs::Entity_Type_NONE;
if (_in == "light") {
return msgs::Entity_Type_LIGHT;
}
else if (_in == "model")
{
return msgs::Entity_Type_MODEL;
}
else if (_in == "link")
{
return msgs::Entity_Type_LINK;
}
else if (_in == "visual")
{
return msgs::Entity_Type_VISUAL;
}
else if (_in == "collision")
{
return msgs::Entity_Type_COLLISION;
}
else if (_in == "sensor")
{
return msgs::Entity_Type_SENSOR;
}
else if (_in == "joint")
{
return msgs::Entity_Type_JOINT;
}
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
math::Pose3d gz::sim::convert(const msgs::Pose &_in)
{
math::Pose3d out(_in.position().x(),
_in.position().y(),
_in.position().z(),
_in.orientation().w(),
_in.orientation().x(),
_in.orientation().y(),
_in.orientation().z());
out.Correct();
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
msgs::Collision gz::sim::convert(const sdf::Collision &_in)
{
msgs::Collision out;
out.set_name(_in.Name());
msgs::Set(out.mutable_pose(), _in.RawPose());
out.mutable_geometry()->CopyFrom(convert<msgs::Geometry>(*_in.Geom()));
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
sdf::Collision gz::sim::convert(const msgs::Collision &_in)
{
sdf::Collision out;
out.SetName(_in.name());
out.SetRawPose(msgs::Convert(_in.pose()));
out.SetGeom(convert<sdf::Geometry>(_in.geometry()));
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
msgs::Geometry gz::sim::convert(const sdf::Geometry &_in)
{
msgs::Geometry out;
if (_in.Type() == sdf::GeometryType::BOX && _in.BoxShape())
{
out.set_type(msgs::Geometry::BOX);
msgs::Set(out.mutable_box()->mutable_size(), _in.BoxShape()->Size());
}
else if (_in.Type() == sdf::GeometryType::CAPSULE && _in.CapsuleShape())
{
out.set_type(msgs::Geometry::CAPSULE);
out.mutable_capsule()->set_radius(_in.CapsuleShape()->Radius());
out.mutable_capsule()->set_length(_in.CapsuleShape()->Length());
}
else if (_in.Type() == sdf::GeometryType::CONE && _in.ConeShape())
{
out.set_type(msgs::Geometry::CONE);
out.mutable_cone()->set_radius(_in.ConeShape()->Radius());
out.mutable_cone()->set_length(_in.ConeShape()->Length());
}
else if (_in.Type() == sdf::GeometryType::CYLINDER && _in.CylinderShape())
{
out.set_type(msgs::Geometry::CYLINDER);
out.mutable_cylinder()->set_radius(_in.CylinderShape()->Radius());
out.mutable_cylinder()->set_length(_in.CylinderShape()->Length());
}
else if (_in.Type() == sdf::GeometryType::ELLIPSOID && _in.EllipsoidShape())
{
out.set_type(msgs::Geometry::ELLIPSOID);
msgs::Set(out.mutable_ellipsoid()->mutable_radii(),
_in.EllipsoidShape()->Radii());
}
else if (_in.Type() == sdf::GeometryType::PLANE && _in.PlaneShape())
{
out.set_type(msgs::Geometry::PLANE);
msgs::Set(out.mutable_plane()->mutable_normal(),
_in.PlaneShape()->Normal());
msgs::Set(out.mutable_plane()->mutable_size(),
_in.PlaneShape()->Size());
}
else if (_in.Type() == sdf::GeometryType::SPHERE && _in.SphereShape())
{
out.set_type(msgs::Geometry::SPHERE);
out.mutable_sphere()->set_radius(_in.SphereShape()->Radius());
}
else if (_in.Type() == sdf::GeometryType::MESH && _in.MeshShape())
{
auto meshSdf = _in.MeshShape();
out.set_type(msgs::Geometry::MESH);
auto meshMsg = out.mutable_mesh();
msgs::Set(meshMsg->mutable_scale(), meshSdf->Scale());
meshMsg->set_filename(asFullPath(meshSdf->Uri(), meshSdf->FilePath()));
meshMsg->set_submesh(meshSdf->Submesh());
meshMsg->set_center_submesh(meshSdf->CenterSubmesh());
}
else if (_in.Type() == sdf::GeometryType::HEIGHTMAP && _in.HeightmapShape())
{
auto heightmapSdf = _in.HeightmapShape();
out.set_type(msgs::Geometry::HEIGHTMAP);
auto heightmapMsg = out.mutable_heightmap();
heightmapMsg->set_filename(asFullPath(heightmapSdf->Uri(),
heightmapSdf->FilePath()));
msgs::Set(heightmapMsg->mutable_size(), heightmapSdf->Size());
msgs::Set(heightmapMsg->mutable_origin(), heightmapSdf->Position());
heightmapMsg->set_use_terrain_paging(heightmapSdf->UseTerrainPaging());
heightmapMsg->set_sampling(heightmapSdf->Sampling());
for (auto i = 0u; i < heightmapSdf->TextureCount(); ++i)
{
auto textureSdf = heightmapSdf->TextureByIndex(i);
auto textureMsg = heightmapMsg->add_texture();
textureMsg->set_size(textureSdf->Size());
textureMsg->set_diffuse(asFullPath(textureSdf->Diffuse(),
heightmapSdf->FilePath()));
textureMsg->set_normal(asFullPath(textureSdf->Normal(),
heightmapSdf->FilePath()));
}
for (auto i = 0u; i < heightmapSdf->BlendCount(); ++i)
{
auto blendSdf = heightmapSdf->BlendByIndex(i);
auto blendMsg = heightmapMsg->add_blend();
blendMsg->set_min_height(blendSdf->MinHeight());
blendMsg->set_fade_dist(blendSdf->FadeDistance());
}
}
else if (_in.Type() == sdf::GeometryType::POLYLINE &&
!_in.PolylineShape().empty())
{
out.set_type(msgs::Geometry::POLYLINE);
for (const auto &polyline : _in.PolylineShape())
{
auto polylineMsg = out.add_polyline();
polylineMsg->set_height(polyline.Height());
for (const auto &point : polyline.Points())
{
msgs::Set(polylineMsg->add_point(), point);
}
}
}
else if (_in.Type() == sdf::GeometryType::EMPTY)
{
out.set_type(msgs::Geometry::EMPTY);
}
else
{
gzerr << "Geometry type [" << static_cast<int>(_in.Type())
<< "] not supported" << std::endl;
}
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
sdf::Geometry gz::sim::convert(const msgs::Geometry &_in)
{
sdf::Geometry out;
if (_in.type() == msgs::Geometry::BOX && _in.has_box())
{
out.SetType(sdf::GeometryType::BOX);
sdf::Box boxShape;
boxShape.SetSize(msgs::Convert(_in.box().size()));
out.SetBoxShape(boxShape);
}
else if (_in.type() == msgs::Geometry::CAPSULE && _in.has_capsule())
{
out.SetType(sdf::GeometryType::CAPSULE);
sdf::Capsule capsuleShape;
capsuleShape.SetRadius(_in.capsule().radius());
capsuleShape.SetLength(_in.capsule().length());
out.SetCapsuleShape(capsuleShape);
}
else if (_in.type() == msgs::Geometry::CONE && _in.has_cone())
{
out.SetType(sdf::GeometryType::CONE);
sdf::Cone coneShape;
coneShape.SetRadius(_in.cone().radius());
coneShape.SetLength(_in.cone().length());
out.SetConeShape(coneShape);
}
else if (_in.type() == msgs::Geometry::CYLINDER && _in.has_cylinder())
{
out.SetType(sdf::GeometryType::CYLINDER);
sdf::Cylinder cylinderShape;
cylinderShape.SetRadius(_in.cylinder().radius());
cylinderShape.SetLength(_in.cylinder().length());
out.SetCylinderShape(cylinderShape);
}
else if (_in.type() == msgs::Geometry::ELLIPSOID && _in.has_ellipsoid())
{
out.SetType(sdf::GeometryType::ELLIPSOID);
sdf::Ellipsoid ellipsoidShape;
ellipsoidShape.SetRadii(msgs::Convert(_in.ellipsoid().radii()));
out.SetEllipsoidShape(ellipsoidShape);
}
else if (_in.type() == msgs::Geometry::PLANE && _in.has_plane())
{
out.SetType(sdf::GeometryType::PLANE);
sdf::Plane planeShape;
planeShape.SetNormal(msgs::Convert(_in.plane().normal()));
planeShape.SetSize(msgs::Convert(_in.plane().size()));
out.SetPlaneShape(planeShape);
}
else if (_in.type() == msgs::Geometry::SPHERE && _in.has_sphere())
{
out.SetType(sdf::GeometryType::SPHERE);
sdf::Sphere sphereShape;
sphereShape.SetRadius(_in.sphere().radius());
out.SetSphereShape(sphereShape);
}
else if (_in.type() == msgs::Geometry::MESH && _in.has_mesh())
{
out.SetType(sdf::GeometryType::MESH);
sdf::Mesh meshShape;
meshShape.SetScale(msgs::Convert(_in.mesh().scale()));
meshShape.SetUri(_in.mesh().filename());
meshShape.SetSubmesh(_in.mesh().submesh());
meshShape.SetCenterSubmesh(_in.mesh().center_submesh());
out.SetMeshShape(meshShape);
}
else if (_in.type() == msgs::Geometry::HEIGHTMAP && _in.has_heightmap())
{
out.SetType(sdf::GeometryType::HEIGHTMAP);
sdf::Heightmap heightmapShape;
heightmapShape.SetUri(_in.heightmap().filename());
heightmapShape.SetSize(msgs::Convert(_in.heightmap().size()));
heightmapShape.SetPosition(msgs::Convert(_in.heightmap().origin()));
heightmapShape.SetUseTerrainPaging(_in.heightmap().use_terrain_paging());
heightmapShape.SetSampling(_in.heightmap().sampling());
for (int i = 0; i < _in.heightmap().texture_size(); ++i)
{
auto textureMsg = _in.heightmap().texture(i);
sdf::HeightmapTexture textureSdf;
textureSdf.SetSize(textureMsg.size());
textureSdf.SetDiffuse(textureMsg.diffuse());
textureSdf.SetNormal(textureMsg.normal());
heightmapShape.AddTexture(textureSdf);
}
for (int i = 0; i < _in.heightmap().blend_size(); ++i)
{
auto blendMsg = _in.heightmap().blend(i);
sdf::HeightmapBlend blendSdf;
blendSdf.SetMinHeight(blendMsg.min_height());
blendSdf.SetFadeDistance(blendMsg.fade_dist());
heightmapShape.AddBlend(blendSdf);
}
out.SetHeightmapShape(heightmapShape);
}
else if (_in.type() == msgs::Geometry::POLYLINE && _in.polyline_size() > 0)
{
out.SetType(sdf::GeometryType::POLYLINE);
std::vector<sdf::Polyline> polylines;
for (auto i = 0; i < _in.polyline().size(); ++i)
{
auto polylineMsg = _in.polyline(i);
sdf::Polyline polylineShape;
polylineShape.SetHeight(polylineMsg.height());
for (auto j = 0; j < polylineMsg.point().size(); ++j)
{
polylineShape.AddPoint(msgs::Convert(polylineMsg.point(j)));
}
polylines.push_back(polylineShape);
}
out.SetPolylineShape(polylines);
}
else
{
gzerr << "Geometry type [" << static_cast<int>(_in.type())
<< "] not supported" << std::endl;
}
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
msgs::Material gz::sim::convert(const sdf::Material &_in)
{
msgs::Material out;
msgs::Set(out.mutable_ambient(), _in.Ambient());
msgs::Set(out.mutable_diffuse(), _in.Diffuse());
msgs::Set(out.mutable_specular(), _in.Specular());
out.set_shininess(_in.Shininess());
msgs::Set(out.mutable_emissive(), _in.Emissive());
out.set_render_order(_in.RenderOrder());
out.set_lighting(_in.Lighting());
out.set_double_sided(_in.DoubleSided());
auto pbr = _in.PbrMaterial();
if (pbr)
{
auto pbrMsg = out.mutable_pbr();
auto workflow = pbr->Workflow(sdf::PbrWorkflowType::METAL);
if (workflow)
pbrMsg->set_type(msgs::Material_PBR_WorkflowType_METAL);
else
{
workflow = pbr->Workflow(sdf::PbrWorkflowType::SPECULAR);
if (workflow)
pbrMsg->set_type(msgs::Material_PBR_WorkflowType_SPECULAR);
}
if (workflow)
{
pbrMsg->set_metalness(workflow->Metalness());
pbrMsg->set_metalness_map(workflow->MetalnessMap().empty() ? "" :
asFullPath(workflow->MetalnessMap(), _in.FilePath()));
pbrMsg->set_roughness(workflow->Roughness());
pbrMsg->set_roughness_map(workflow->RoughnessMap().empty() ? "" :
asFullPath(workflow->RoughnessMap(), _in.FilePath()));
pbrMsg->set_glossiness(workflow->Glossiness());
pbrMsg->set_glossiness_map(workflow->GlossinessMap().empty() ? "" :
asFullPath(workflow->GlossinessMap(), _in.FilePath()));
pbrMsg->set_specular_map(workflow->SpecularMap().empty() ? "" :
asFullPath(workflow->SpecularMap(), _in.FilePath()));
pbrMsg->set_albedo_map(workflow->AlbedoMap().empty() ? "" :
asFullPath(workflow->AlbedoMap(), _in.FilePath()));
pbrMsg->set_normal_map(workflow->NormalMap().empty() ? "" :
asFullPath(workflow->NormalMap(), _in.FilePath()));
pbrMsg->set_ambient_occlusion_map(
workflow->AmbientOcclusionMap().empty() ? "" :
asFullPath(workflow->AmbientOcclusionMap(), _in.FilePath()));
pbrMsg->set_environment_map(workflow->EnvironmentMap().empty() ? "" :
asFullPath(workflow->EnvironmentMap(), _in.FilePath()));
pbrMsg->set_emissive_map(workflow->EmissiveMap().empty() ? "" :
asFullPath(workflow->EmissiveMap(), _in.FilePath()));
pbrMsg->set_light_map(workflow->LightMap().empty() ? "" :
asFullPath(workflow->LightMap(), _in.FilePath()));
pbrMsg->set_light_map_texcoord_set(workflow->LightMapTexCoordSet());
}
}
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
sdf::Material gz::sim::convert(const msgs::Material &_in)
{
sdf::Material out;
out.SetAmbient(msgs::Convert(_in.ambient()));
out.SetDiffuse(msgs::Convert(_in.diffuse()));
out.SetSpecular(msgs::Convert(_in.specular()));
out.SetShininess(_in.shininess());
out.SetEmissive(msgs::Convert(_in.emissive()));
out.SetRenderOrder(_in.render_order());
out.SetLighting(_in.lighting());
out.SetDoubleSided(_in.double_sided());
if (_in.has_pbr())
{
const auto &pbrMsg = _in.pbr();
sdf::Pbr pbr;
sdf::PbrWorkflow workflow;
if (pbrMsg.type() == msgs::Material_PBR_WorkflowType_METAL)
workflow.SetType(sdf::PbrWorkflowType::METAL);
else if (pbrMsg.type() == msgs::Material_PBR_WorkflowType_SPECULAR)
workflow.SetType(sdf::PbrWorkflowType::SPECULAR);
workflow.SetAlbedoMap(pbrMsg.albedo_map());
workflow.SetNormalMap(pbrMsg.normal_map());
workflow.SetMetalness(pbrMsg.metalness());
workflow.SetMetalnessMap(pbrMsg.metalness_map());
workflow.SetRoughness(pbrMsg.roughness());
workflow.SetRoughnessMap(pbrMsg.roughness_map());
workflow.SetGlossiness(pbrMsg.glossiness());
workflow.SetGlossinessMap(pbrMsg.glossiness_map());
workflow.SetSpecularMap(pbrMsg.specular_map());
workflow.SetEnvironmentMap(pbrMsg.environment_map());
workflow.SetAmbientOcclusionMap(pbrMsg.ambient_occlusion_map());
workflow.SetEmissiveMap(pbrMsg.emissive_map());
workflow.SetLightMap(pbrMsg.light_map(), pbrMsg.light_map_texcoord_set());
pbr.SetWorkflow(workflow.Type(), workflow);
out.SetPbrMaterial(pbr);
}
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
msgs::Actor gz::sim::convert(const sdf::Actor &_in)
{
msgs::Actor out;
out.mutable_entity()->set_name(_in.Name());
msgs::Set(out.mutable_pose(), _in.RawPose());
out.set_skin_filename(asFullPath(_in.SkinFilename(), _in.FilePath()));
out.set_skin_scale(_in.SkinScale());
for (unsigned int i = 0; i < _in.AnimationCount(); ++i)
{
auto newAnim = out.add_animations();
auto anim = _in.AnimationByIndex(i);
newAnim->set_name(anim->Name());
newAnim->set_filename(asFullPath(anim->Filename(), anim->FilePath()));
newAnim->set_scale(anim->Scale());
newAnim->set_interpolate_x(anim->InterpolateX());
}
out.set_script_loop(_in.ScriptLoop());
out.set_script_delay_start(_in.ScriptDelayStart());
out.set_script_auto_start(_in.ScriptAutoStart());
for (unsigned int i = 0; i < _in.TrajectoryCount(); ++i)
{
auto newTraj = out.add_trajectories();
auto traj = _in.TrajectoryByIndex(i);
newTraj->set_id(traj->Id());
newTraj->set_type(traj->Type());
newTraj->set_tension(traj->Tension());
for (unsigned int j = 0; j < traj->WaypointCount(); ++j)
{
auto newPoint = newTraj->add_waypoints();
auto point = traj->WaypointByIndex(j);
newPoint->set_time(point->Time());
msgs::Set(newPoint->mutable_pose(), point->Pose());
}
}
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
sdf::Actor gz::sim::convert(const msgs::Actor &_in)
{
sdf::Actor out;
out.SetName(_in.entity().name());
out.SetRawPose(msgs::Convert(_in.pose()));
out.SetSkinFilename(_in.skin_filename());
out.SetSkinScale(_in.skin_scale());
for (int i = 0; i < _in.animations_size(); ++i)
{
const auto &anim = _in.animations(i);
sdf::Animation newAnim;
newAnim.SetName(anim.name());
newAnim.SetFilename(anim.filename());
newAnim.SetScale(anim.scale());
newAnim.SetInterpolateX(anim.interpolate_x());
out.AddAnimation(newAnim);
}
out.SetScriptLoop(_in.script_loop());
out.SetScriptDelayStart(_in.script_delay_start());
out.SetScriptAutoStart(_in.script_auto_start());
for (int i = 0; i < _in.trajectories_size(); ++i)
{
const auto &traj = _in.trajectories(i);
sdf::Trajectory newTraj;
newTraj.SetId(traj.id());
newTraj.SetType(traj.type());
newTraj.SetTension(traj.tension());
for (int j = 0; j < traj.waypoints_size(); ++j)
{
const auto &point = traj.waypoints(j);
sdf::Waypoint newPoint;
newPoint.SetTime(point.time());
newPoint.SetPose(msgs::Convert(point.pose()));
newTraj.AddWaypoint(newPoint);
}
out.AddTrajectory(newTraj);
}
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
msgs::Light gz::sim::convert(const sdf::Light &_in)
{
msgs::Light out;
out.set_name(_in.Name());
msgs::Set(out.mutable_pose(), _in.RawPose());
msgs::Set(out.mutable_diffuse(), _in.Diffuse());
msgs::Set(out.mutable_specular(), _in.Specular());
out.set_attenuation_constant(_in.ConstantAttenuationFactor());
out.set_attenuation_linear(_in.LinearAttenuationFactor());
out.set_attenuation_quadratic(_in.QuadraticAttenuationFactor());
out.set_range(_in.AttenuationRange());
out.set_intensity(_in.Intensity());
msgs::Set(out.mutable_direction(), _in.Direction());
out.set_cast_shadows(_in.CastShadows());
out.set_spot_inner_angle(_in.SpotInnerAngle().Radian());
out.set_spot_outer_angle(_in.SpotOuterAngle().Radian());
out.set_spot_falloff(_in.SpotFalloff());
out.set_is_light_off(!_in.LightOn());
out.set_visualize_visual(_in.Visualize());
if (_in.Type() == sdf::LightType::POINT)
out.set_type(msgs::Light_LightType_POINT);
else if (_in.Type() == sdf::LightType::SPOT)
out.set_type(msgs::Light_LightType_SPOT);
else if (_in.Type() == sdf::LightType::DIRECTIONAL)
out.set_type(msgs::Light_LightType_DIRECTIONAL);
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
sdf::Light gz::sim::convert(const msgs::Light &_in)
{
sdf::Light out;
out.SetName(_in.name());
out.SetRawPose(msgs::Convert(_in.pose()));
out.SetDiffuse(msgs::Convert(_in.diffuse()));
out.SetSpecular(msgs::Convert(_in.specular()));
out.SetConstantAttenuationFactor(_in.attenuation_constant());
out.SetLinearAttenuationFactor(_in.attenuation_linear());
out.SetQuadraticAttenuationFactor(_in.attenuation_quadratic());
out.SetAttenuationRange(_in.range());
out.SetDirection(msgs::Convert(_in.direction()));
out.SetIntensity(_in.intensity());
out.SetCastShadows(_in.cast_shadows());
out.SetSpotInnerAngle(math::Angle(_in.spot_inner_angle()));
out.SetSpotOuterAngle(math::Angle(_in.spot_outer_angle()));
out.SetSpotFalloff(_in.spot_falloff());
out.SetLightOn(!_in.is_light_off());
out.SetVisualize(_in.visualize_visual());
if (_in.type() == msgs::Light_LightType_POINT)
out.SetType(sdf::LightType::POINT);
else if (_in.type() == msgs::Light_LightType_SPOT)
out.SetType(sdf::LightType::SPOT);
else if (_in.type() == msgs::Light_LightType_DIRECTIONAL)
out.SetType(sdf::LightType::DIRECTIONAL);
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
msgs::GUI gz::sim::convert(const sdf::Gui &_in)
{
msgs::GUI out;
out.set_fullscreen(_in.Fullscreen());
// Set gui plugins
for (uint64_t i = 0; i < _in.PluginCount(); ++i)
{
auto pluginMsg = out.add_plugin();
pluginMsg->CopyFrom(convert<msgs::Plugin>(*_in.PluginByIndex(i)));
}
if (_in.Element()->HasElement("camera"))
{
gzwarn << "<gui><camera> can't be converted yet" << std::endl;
}
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
msgs::Time gz::sim::convert(
const std::chrono::steady_clock::duration &_in)
{
msgs::Time out;
auto secNsec = math::durationToSecNsec(_in);
out.set_sec(secNsec.first);
out.set_nsec(secNsec.second);
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
std::chrono::steady_clock::duration gz::sim::convert(
const msgs::Time &_in)
{
return std::chrono::seconds(_in.sec()) + std::chrono::nanoseconds(_in.nsec());
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
msgs::Inertial gz::sim::convert(const math::Inertiald &_in)
{
return msgs::Convert(_in);
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
math::Inertiald gz::sim::convert(const msgs::Inertial &_in)
{
return msgs::Convert(_in);
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
msgs::Axis gz::sim::convert(const sdf::JointAxis &_in)
{
msgs::Axis out;
msgs::Set(out.mutable_xyz(), _in.Xyz());
out.set_xyz_expressed_in(_in.XyzExpressedIn());
out.set_damping(_in.Damping());
out.set_friction(_in.Friction());
out.set_limit_lower(_in.Lower());
out.set_limit_upper(_in.Upper());
out.set_limit_effort(_in.Effort());
out.set_limit_velocity(_in.MaxVelocity());
// TODO(anyone) Only on SDF:
// * initial position
// * spring reference
// * spring stiffness
// * stiffness
// * dissipation
// Only on msg:
// * position
// * velocity
// * force
// * acceleration
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
sdf::JointAxis gz::sim::convert(const msgs::Axis &_in)
{
sdf::JointAxis out;
sdf::Errors errors = out.SetXyz(msgs::Convert(_in.xyz()));
for (const auto &err : errors) {
gzerr << err.Message() << std::endl;
}
out.SetXyzExpressedIn(_in.xyz_expressed_in());
out.SetDamping(_in.damping());
out.SetFriction(_in.friction());
out.SetLower(_in.limit_lower());
out.SetUpper(_in.limit_upper());
out.SetEffort(_in.limit_effort());
out.SetMaxVelocity(_in.limit_velocity());
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
msgs::Scene gz::sim::convert(const sdf::Scene &_in)
{
msgs::Scene out;
// todo(anyone) add Name to sdf::Scene?
// out.set_name(_in.Name());
msgs::Set(out.mutable_ambient(), _in.Ambient());
msgs::Set(out.mutable_background(), _in.Background());
out.set_shadows(_in.Shadows());
out.set_grid(_in.Grid());
out.set_origin_visual(_in.OriginVisual());
if (_in.Sky())
{
msgs::Sky *skyMsg = out.mutable_sky();
skyMsg->set_time(_in.Sky()->Time());
skyMsg->set_sunrise(_in.Sky()->Sunrise());
skyMsg->set_sunset(_in.Sky()->Sunset());
skyMsg->set_wind_speed(_in.Sky()->CloudSpeed());
skyMsg->set_wind_direction(_in.Sky()->CloudDirection().Radian());
skyMsg->set_humidity(_in.Sky()->CloudHumidity());
skyMsg->set_mean_cloud_size(_in.Sky()->CloudMeanSize());
skyMsg->set_cubemap_uri(_in.Sky()->CubemapUri());
msgs::Set(skyMsg->mutable_cloud_ambient(),
_in.Sky()->CloudAmbient());
}
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
sdf::Scene gz::sim::convert(const msgs::Scene &_in)
{
sdf::Scene out;
// todo(anyone) add SetName to sdf::Scene?
// out.SetName(_in.name());
out.SetAmbient(msgs::Convert(_in.ambient()));
out.SetBackground(msgs::Convert(_in.background()));
out.SetShadows(_in.shadows());
out.SetGrid(_in.grid());
out.SetOriginVisual(_in.origin_visual());
if (_in.has_sky())
{
sdf::Sky sky;
sky.SetTime(_in.sky().time());
sky.SetSunrise(_in.sky().sunrise());
sky.SetSunset(_in.sky().sunset());
sky.SetCloudSpeed(_in.sky().wind_speed());
sky.SetCloudDirection(math::Angle(_in.sky().wind_direction()));
sky.SetCloudHumidity(_in.sky().humidity());
sky.SetCloudMeanSize(_in.sky().mean_cloud_size());
sky.SetCloudAmbient(msgs::Convert(_in.sky().cloud_ambient()));
sky.SetCubemapUri(_in.sky().cubemap_uri());
out.SetSky(sky);
}
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
msgs::Atmosphere gz::sim::convert(const sdf::Atmosphere &_in)
{
msgs::Atmosphere out;
out.set_temperature(_in.Temperature().Kelvin());
out.set_pressure(_in.Pressure());
if (_in.Type() == sdf::AtmosphereType::ADIABATIC)
{
out.set_type(msgs::Atmosphere::ADIABATIC);
}
// todo(anyone) add mass density to sdf::Atmosphere?
// out.set_mass_density(_in.MassDensity());
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
sdf::Atmosphere gz::sim::convert(const msgs::Atmosphere &_in)
{
sdf::Atmosphere out;
out.SetTemperature(math::Temperature(_in.temperature()));
out.SetPressure(_in.pressure());
// todo(anyone) add temperature gradient to msgs::Atmosphere?
if (_in.type() == msgs::Atmosphere::ADIABATIC)
{
out.SetType(sdf::AtmosphereType::ADIABATIC);
}
return out;
}
//////////////////////////////////////////////////
void gz::sim::set(msgs::Time *_msg,
const std::chrono::steady_clock::duration &_in)
{
auto secNsec = math::durationToSecNsec(_in);
_msg->set_sec(secNsec.first);
_msg->set_nsec(secNsec.second);
}
//////////////////////////////////////////////////
void gz::sim::set(msgs::WorldStatistics *_msg,
const sim::UpdateInfo &_in)
{
set(_msg->mutable_sim_time(), _in.simTime);
set(_msg->mutable_real_time(), _in.realTime);
set(_msg->mutable_step_size(), _in.dt);
_msg->set_iterations(_in.iterations);
_msg->set_paused(_in.paused);
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
msgs::Physics gz::sim::convert(const sdf::Physics &_in)
{
msgs::Physics out;
out.set_max_step_size(_in.MaxStepSize());
out.set_real_time_factor(_in.RealTimeFactor());
return out;
}
//////////////////////////////////////////////////
template<>
GZ_SIM_VISIBLE
sdf::Physics gz::sim::convert(const msgs::Physics &_in)
{
sdf::Physics out;
out.SetRealTimeFactor(_in.real_time_factor());
out.SetMaxStepSize(_in.max_step_size());
return out;
}
//////////////////////////////////////////////////
void gz::sim::set(msgs::SensorNoise *_msg, const sdf::Noise &_sdf)
{
switch (_sdf.Type())
{
case sdf::NoiseType::GAUSSIAN:
_msg->set_type(msgs::SensorNoise::GAUSSIAN);
break;
case sdf::NoiseType::GAUSSIAN_QUANTIZED:
_msg->set_type(msgs::SensorNoise::GAUSSIAN_QUANTIZED);
break;
case sdf::NoiseType::NONE:
default:
_msg->set_type(msgs::SensorNoise::NONE);
break;
}
_msg->set_mean(_sdf.Mean());
_msg->set_stddev(_sdf.StdDev());
_msg->set_bias_mean(_sdf.BiasMean());
_msg->set_bias_stddev(_sdf.BiasStdDev());
_msg->set_precision(_sdf.Precision());
_msg->set_dynamic_bias_stddev(_sdf.DynamicBiasStdDev());
_msg->set_dynamic_bias_correlation_time(_sdf.DynamicBiasCorrelationTime());
}
//////////////////////////////////////////////////
std::string gz::sim::convert(const sdf::LightType &_in)
{
if (_in == sdf::LightType::POINT)
{
return std::string("point");
}
else if (_in == sdf::LightType::DIRECTIONAL)
{
return std::string("directional");
}
else if (_in == sdf::LightType::SPOT)
{
return std::string("spot");
}
return std::string("");
}
//////////////////////////////////////////////////
sdf::LightType gz::sim::convert(const std::string &_in)
{
std::string inLowerCase = _in;
std::transform(_in.begin(), _in.end(), inLowerCase.begin(), ::tolower);
if (inLowerCase == "point")
{
return sdf::LightType::POINT;
}
else if (inLowerCase == "directional")
{
return sdf::LightType::DIRECTIONAL;
}
else if (inLowerCase == "spot")
{
return sdf::LightType::SPOT;
}
return sdf::LightType::INVALID;