From 88e0c49a17c9b4b6b0ee08b407c6358df9ec4119 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Tue, 7 Jun 2022 21:30:02 -0500
Subject: [PATCH] Add missing gz-math includes (#1525)

Some libsdformat headers used to include `gz/math.hh`, but that is no
longer the case since https://github.com/gazebosim/sdformat/pull/1043.
As a result, gz-sim has to be updated to include the necessary headers.

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 examples/standalone/light_control/light_control.cc             | 1 +
 include/gz/sim/Conversions.hh                                  | 1 +
 include/gz/sim/rendering/SceneManager.hh                       | 2 ++
 .../component_inspector_editor/ComponentInspectorEditor.hh     | 1 +
 src/rendering/MarkerManager.cc                                 | 1 +
 src/rendering/SceneManager.cc                                  | 1 +
 src/systems/multicopter_control/Common.cc                      | 1 +
 src/systems/odometry_publisher/OdometryPublisher.cc            | 3 ++-
 src/systems/thruster/Thruster.cc                               | 1 +
 9 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/examples/standalone/light_control/light_control.cc b/examples/standalone/light_control/light_control.cc
index 21014c50b8b..fb6068fd1bd 100644
--- a/examples/standalone/light_control/light_control.cc
+++ b/examples/standalone/light_control/light_control.cc
@@ -17,6 +17,7 @@
 
 #include <chrono>
 #include <iostream>
+#include <random>
 
 #include <gz/sim/components/Light.hh>
 #include <gz/sim/components/LightCmd.hh>
diff --git a/include/gz/sim/Conversions.hh b/include/gz/sim/Conversions.hh
index 6d709834ece..2f7fab8c09f 100644
--- a/include/gz/sim/Conversions.hh
+++ b/include/gz/sim/Conversions.hh
@@ -39,6 +39,7 @@
 #include <string>
 
 #include <gz/common/Console.hh>
+#include <gz/math/AxisAlignedBox.hh>
 #include <gz/math/Inertial.hh>
 #include <sdf/Actor.hh>
 #include <sdf/Atmosphere.hh>
diff --git a/include/gz/sim/rendering/SceneManager.hh b/include/gz/sim/rendering/SceneManager.hh
index a3c536621d5..4a8f9ba5598 100644
--- a/include/gz/sim/rendering/SceneManager.hh
+++ b/include/gz/sim/rendering/SceneManager.hh
@@ -37,6 +37,8 @@
 #include <gz/common/Animation.hh>
 #include <gz/common/graphics/Types.hh>
 
+#include <gz/math/Matrix4.hh>
+
 #include <gz/msgs/particle_emitter.pb.h>
 
 #include <gz/rendering/RenderTypes.hh>
diff --git a/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.hh b/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.hh
index b7817152adc..c16095480ee 100644
--- a/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.hh
+++ b/src/gui/plugins/component_inspector_editor/ComponentInspectorEditor.hh
@@ -26,6 +26,7 @@
 #include <sdf/Physics.hh>
 #include <sdf/Joint.hh>
 
+#include <gz/math/SphericalCoordinates.hh>
 #include <gz/math/Vector3.hh>
 
 #include <gz/sim/components/Component.hh>
diff --git a/src/rendering/MarkerManager.cc b/src/rendering/MarkerManager.cc
index ed0cda1ac1d..9a536a95a34 100644
--- a/src/rendering/MarkerManager.cc
+++ b/src/rendering/MarkerManager.cc
@@ -21,6 +21,7 @@
 #include <mutex>
 #include <string>
 
+#include <gz/math/Rand.hh>
 #include <gz/msgs.hh>
 #include <gz/transport/Node.hh>
 
diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc
index 7ca02308d5b..b62934ded9f 100644
--- a/src/rendering/SceneManager.cc
+++ b/src/rendering/SceneManager.cc
@@ -18,6 +18,7 @@
 
 #include <map>
 #include <memory>
+#include <queue>
 #include <unordered_map>
 
 #include <sdf/Box.hh>
diff --git a/src/systems/multicopter_control/Common.cc b/src/systems/multicopter_control/Common.cc
index c953ecae88a..666fed0117b 100644
--- a/src/systems/multicopter_control/Common.cc
+++ b/src/systems/multicopter_control/Common.cc
@@ -20,6 +20,7 @@
 #include <string>
 
 #include <gz/common/Console.hh>
+#include <gz/math/Rand.hh>
 #include <gz/math/eigen3/Conversions.hh>
 
 #include <gz/sim/components/ChildLinkName.hh>
diff --git a/src/systems/odometry_publisher/OdometryPublisher.cc b/src/systems/odometry_publisher/OdometryPublisher.cc
index b5b6a88b7e5..453ff9e4b1b 100644
--- a/src/systems/odometry_publisher/OdometryPublisher.cc
+++ b/src/systems/odometry_publisher/OdometryPublisher.cc
@@ -30,6 +30,7 @@
 #include <gz/math/Helpers.hh>
 #include <gz/math/Pose3.hh>
 #include <gz/math/Quaternion.hh>
+#include <gz/math/Rand.hh>
 #include <gz/math/RollingMean.hh>
 #include <gz/plugin/Register.hh>
 #include <gz/transport/Node.hh>
@@ -95,7 +96,7 @@ class gz::sim::systems::OdometryPublisherPrivate
   public: math::Pose3d lastUpdatePose{0, 0, 0, 0, 0, 0};
 
   /// \brief Current timestamp.
-  public: math::clock::time_point lastUpdateTime;
+  public: std::chrono::steady_clock::time_point lastUpdateTime;
 
   /// \brief Allow specifying constant xyz and rpy offsets
   public: gz::math::Pose3d offset = {0, 0, 0, 0, 0, 0};
diff --git a/src/systems/thruster/Thruster.cc b/src/systems/thruster/Thruster.cc
index a7088ae0d2e..525f161e9a6 100644
--- a/src/systems/thruster/Thruster.cc
+++ b/src/systems/thruster/Thruster.cc
@@ -21,6 +21,7 @@
 #include <gz/msgs/double.pb.h>
 
 #include <gz/math/Helpers.hh>
+#include <gz/math/PID.hh>
 
 #include <gz/plugin/Register.hh>