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Optional orientation when spawning entity using spherical coordinates #1263

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merged 8 commits into from
Jan 14, 2022
Merged

Optional orientation when spawning entity using spherical coordinates #1263

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dc1be44
Use pose orientation with spherical coordinates
chapulina Dec 17, 2021
4aa92cf
Add test
chapulina Dec 21, 2021
b2ccc65
Merge branch 'ign-gazebo6' into chapulina/6/spherical_orientation
chapulina Jan 12, 2022
1f0279f
add heading to test
chapulina Jan 12, 2022
0fad8af
Use quaternion multiplication instead
chapulina Jan 12, 2022
9cb4780
Merge branch 'ign-gazebo6' into chapulina/6/spherical_orientation
chapulina Jan 13, 2022
10de2d1
pose is optional, otherwise we override the SDF
chapulina Jan 14, 2022
6d661ff
Merge branch 'ign-gazebo6' into chapulina/6/spherical_orientation
chapulina Jan 14, 2022
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20 changes: 14 additions & 6 deletions src/systems/user_commands/UserCommands.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1112,13 +1112,14 @@ bool CreateCommand::Execute()
this->iface->creator->SetParent(entity, this->iface->worldEntity);

// Pose
math::Pose3d createPose;
if (createMsg->has_pose())
{
auto poseComp = this->iface->ecm->Component<components::Pose>(entity);
*poseComp = components::Pose(msgs::Convert(createMsg->pose()));
createPose = msgs::Convert(createMsg->pose());
}

// Spherical coordinates
else if (createMsg->has_spherical_coordinates())
if (createMsg->has_spherical_coordinates())
{
auto scComp = this->iface->ecm->Component<components::SphericalCoordinates>(
this->iface->worldEntity);
Expand All @@ -1141,12 +1142,19 @@ bool CreateCommand::Execute()
math::SphericalCoordinates::SPHERICAL,
math::SphericalCoordinates::LOCAL2);

auto poseComp = this->iface->ecm->Component<components::Pose>(entity);
*poseComp = components::Pose({pos.X(), pos.Y(), pos.Z(), 0, 0,
IGN_DTOR(createMsg->spherical_coordinates().heading_deg())});
// Override pos and add to yaw
createPose.SetX(pos.X());
createPose.SetY(pos.Y());
createPose.SetZ(pos.Z());
createPose.Rot() = math::Quaterniond(0, 0,
IGN_DTOR(createMsg->spherical_coordinates().heading_deg())) *
createPose.Rot();
}
}

auto poseComp = this->iface->ecm->Component<components::Pose>(entity);
*poseComp = components::Pose(createPose);

igndbg << "Created entity [" << entity << "] named [" << desiredName << "]"
<< std::endl;

Expand Down
14 changes: 14 additions & 0 deletions test/integration/spherical_coordinates.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -271,6 +271,7 @@ TEST_F(SphericalCoordinatesTest, CreateEntity)
Entity modelEntity{kNullEntity};
math::SphericalCoordinates worldLatLon;
math::Vector3d modelLatLon;
math::Pose3d modelPose;
fixture.OnPostUpdate(
[&](
const ignition::gazebo::UpdateInfo &,
Expand All @@ -289,6 +290,8 @@ TEST_F(SphericalCoordinatesTest, CreateEntity)
auto modelCoord = sphericalCoordinates(modelEntity, _ecm);
EXPECT_TRUE(modelCoord);
modelLatLon = modelCoord.value();

modelPose = worldPose(modelEntity, _ecm);
}

iterations++;
Expand All @@ -305,13 +308,21 @@ TEST_F(SphericalCoordinatesTest, CreateEntity)

double desiredLat{-23.0};
double desiredLon{-43.3};
double desiredHeading{0.2};
double desiredRoll{0.1};
double desiredPitch{0.2};
double desiredYaw{0.3};

msgs::EntityFactory req;
req.set_sdf(modelStr);

msgs::Set(req.mutable_pose(),
{0, 0, 0, desiredRoll, desiredPitch, desiredYaw});

auto scMsg = req.mutable_spherical_coordinates();
scMsg->set_latitude_deg(desiredLat);
scMsg->set_longitude_deg(desiredLon);
scMsg->set_heading_deg(IGN_RTOD(desiredHeading));

msgs::Boolean res;
bool result;
Expand All @@ -336,4 +347,7 @@ TEST_F(SphericalCoordinatesTest, CreateEntity)
EXPECT_NE(kNullEntity, modelEntity);
EXPECT_NEAR(modelLatLon.X(), desiredLat, 1e-6);
EXPECT_NEAR(modelLatLon.Y(), desiredLon, 1e-6);
EXPECT_DOUBLE_EQ(modelPose.Rot().Roll(), desiredRoll);
EXPECT_DOUBLE_EQ(modelPose.Rot().Pitch(), desiredPitch);
EXPECT_DOUBLE_EQ(modelPose.Rot().Yaw(), desiredHeading + desiredYaw);
}