Merge pull request #2234 from azeey/7_to_8

Merge gz-sim7 ➡️ gz-sim8
gazebosim · Nov 8, 2023 · e97053f · e97053f
2 parents 86d7ba5 + fc84cf8
commit e97053f
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Showing 4 changed files with 11 additions and 5 deletions.
diff --git a/examples/standalone/marker/marker.cc b/examples/standalone/marker/marker.cc
@@ -172,7 +172,7 @@ int main(int _argc, char **_argv)
   gz::msgs::Set(markerMsg.add_point(),
         gz::math::Vector3d(0, 0, 0.05));
   double radius = 2;
-  for (double t = 0; t <= M_PI; t+= 0.01)
+  for (double t = 0; t <= GZ_PI; t+= 0.01)
   {
     gz::msgs::Set(markerMsg.add_point(),
         gz::math::Vector3d(radius * cos(t), radius * sin(t), 0.05));

diff --git a/examples/worlds/elevator.sdf b/examples/worlds/elevator.sdf
@@ -10,6 +10,12 @@
 
     gz topic -e -t /model/elevator/state
 
+  Note that when commanding the lift to the ground floor:
+
+    gz topic -t "/model/elevator/cmd" -m gz.msgs.Int32 -p "data: 0"
+
+  The output of the topic echo command will stop as protobuf does not
+  distinguish between the un-set value and zero for integer fields.
 -->
 <sdf version="1.6">
   <world name="elevator_world">

diff --git a/src/systems/advanced_lift_drag/AdvancedLiftDrag.cc b/src/systems/advanced_lift_drag/AdvancedLiftDrag.cc
@@ -615,7 +615,7 @@ void AdvancedLiftDragPrivate::Update(EntityComponentManager &_ecm)
     {
       components::JointPosition *tmp_controlJointPosition =
       controlJointPosition_vec[i];
-      controlAngle = tmp_controlJointPosition->Data()[0] * 180/M_PI;
+      controlAngle = tmp_controlJointPosition->Data()[0] * 180 / GZ_PI;
     }
 
     // AVL's and Gazebo's direction of "positive" deflection may be different.
@@ -671,7 +671,7 @@ void AdvancedLiftDragPrivate::Update(EntityComponentManager &_ecm)
 
   double CD_fp = 2 / (1 + exp(this->CD_fp_k1 + this->CD_fp_k2 * (
     std::max(this->AR, 1 / this->AR))));
-  CD = (1 - sigma) * (this->CD0 + (CL*CL) / (M_PI * this->AR *
+  CD = (1 - sigma) * (this->CD0 + (CL*CL) / (GZ_PI * this->AR *
     this->eff)) + sigma * abs(
       CD_fp * (0.5 - 0.5 * cos(2 * this->alpha)));
 

diff --git a/test/integration/added_mass.cc b/test/integration/added_mass.cc
@@ -50,13 +50,13 @@ const double kRate = 1000;
 const double kForceVec[3] = {2000, 2000, 0};
 
 // Force excitation angular velocity [rad / s].
-const double kForceAngVel = 3 * M_PI;
+const double kForceAngVel = 3 * GZ_PI;
 
 // Torque excitation amplitude and direction.
 const double kTorqueVec[3] = {200, 200, 0};
 
 // Torque excitation angular velocity [rad / s].
-const double kTorqueAngVel = 2 * M_PI;
+const double kTorqueAngVel = 2 * GZ_PI;
 
 // Total duration of the motion in iterations.
 const uint64_t kIter = 1000;