Add EnvironmentalData component (#1616)

* Add EnvironmentalData component
* Add EnvironmentalDataPreload plugin
* Add EnvironmentalDataLoader GUI plugin
* Add spatial reference to EnvironmentData
* Resolve paths relative to SDF parent path
* Avoid template instantiation in plugins
* Make EnvironmentData visible in Windows
* Disable EnvironmentPreload test on Windows

Signed-off-by: Michel Hidalgo <[email protected]>

CMakeLists.txt

@@ -93,6 +93,7 @@ gz_find_package(gz-common5
     profiler
     events
     av
+    io
   REQUIRED
 )
 set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})

include/gz/sim/components/Environment.hh

@@ -0,0 +1,77 @@
+/*
+ * Copyright (C) 2022 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.
+ *
+ */
+
+#ifndef GZ_SIM_ENVIRONMENT_HH_
+#define GZ_SIM_ENVIRONMENT_HH_
+
+#include <memory>
+#include <string>
+
+#include <gz/common/DataFrame.hh>
+#include <gz/math/SphericalCoordinates.hh>
+#include <gz/math/TimeVaryingVolumetricGrid.hh>
+
+#include <gz/sim/components/Factory.hh>
+#include <gz/sim/components/Component.hh>
+#include <gz/sim/Export.hh>
+
+namespace gz
+{
+namespace sim
+{
+// Inline bracket to help doxygen filtering.
+inline namespace GZ_SIM_VERSION_NAMESPACE {
+namespace components
+{
+  /// \brief Environment data across time and space. This is useful to
+  /// introduce physical quantities that may be of interest even if not
+  /// modelled in simulation.
+  struct GZ_SIM_VISIBLE EnvironmentalData
+  {
+    using T = math::InMemoryTimeVaryingVolumetricGrid<double>;
+    using FrameT = common::DataFrame<std::string, T>;
+    using ReferenceT = math::SphericalCoordinates::CoordinateType;
+
+    /// \brief Instantiate environmental data.
+    ///
+    /// An std::make_shared equivalent that ensures
+    /// dynamically loaded call sites use a template
+    /// instantiation that is guaranteed to outlive
+    /// them.
+    static std::shared_ptr<EnvironmentalData>
+    MakeShared(FrameT _frame, ReferenceT _reference);
+
+    /// \brief Environmental data frame.
+    FrameT frame;
+
+    /// \brief Spatial reference for data coordinates.
+    ReferenceT reference;
+  };
+
+  /// \brief A component type that contains a environment data.
+  /// Ownership is shared to avoid data copies unless necessary.
+  using Environment =
+      Component<std::shared_ptr<EnvironmentalData>, class EnvironmentalDataTag>;
+
+  GZ_SIM_REGISTER_COMPONENT(
+      "gz_sim_components.Environment", Environment)
+}
+}
+}
+}
+
+#endif

src/CMakeLists.txt

@@ -32,6 +32,10 @@ set(comms_sources
   comms/MsgManager.cc
 )
 
+set(component_sources
+  components/Environment.cc
+)
+
 set(gui_sources
   ${gui_sources}
   PARENT_SCOPE
@@ -68,6 +72,7 @@ set (sources
   ${PROTO_PRIVATE_SRC}
   ${network_sources}
   ${comms_sources}
+  ${component_sources}
 )
 
 set (gtest_sources

src/components/Environment.cc

@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2022 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/sim/components/Environment.hh"
+
+#include <memory>
+#include <utility>
+
+using namespace gz::sim::components;
+
+std::shared_ptr<EnvironmentalData>
+EnvironmentalData::MakeShared(FrameT _frame, ReferenceT _reference)
+{
+  auto data = std::make_shared<EnvironmentalData>();
+  data->frame = std::move(_frame);
+  data->reference = _reference;
+  return data;
+}

src/gui/plugins/CMakeLists.txt

@@ -135,6 +135,7 @@ add_subdirectory(component_inspector_editor)
 add_subdirectory(copy_paste)
 add_subdirectory(entity_context_menu)
 add_subdirectory(entity_tree)
+add_subdirectory(environment_loader)
 add_subdirectory(joint_position_controller)
 add_subdirectory(lights)
 add_subdirectory(playback_scrubber)

src/gui/plugins/environment_loader/CMakeLists.txt

@@ -0,0 +1,8 @@
+gz_add_gui_plugin(EnvironmentLoader
+  SOURCES EnvironmentLoader.cc
+  QT_HEADERS EnvironmentLoader.hh
+  PRIVATE_LINK_LIBS
+    gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+    gz-common${GZ_COMMON_VER}::io
+    gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER}
+)