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Merge gz-sim7 ➡️ gz-sim8 #2234

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merged 3 commits into from
Nov 8, 2023
Merged

Merge gz-sim7 ➡️ gz-sim8 #2234

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45233fc
Add note about elevator example (#2227)
mjcarroll Nov 3, 2023
82fbdba
Use `GZ_PI` instead of `M_PI` to fix windows builds (#2230)
azeey Nov 6, 2023
fc84cf8
Merge gz-sim7 into gz-sim8
azeey Nov 8, 2023
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2 changes: 1 addition & 1 deletion examples/standalone/marker/marker.cc
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Expand Up @@ -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));
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6 changes: 6 additions & 0 deletions examples/worlds/elevator.sdf
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Expand Up @@ -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">
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4 changes: 2 additions & 2 deletions src/systems/advanced_lift_drag/AdvancedLiftDrag.cc
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Expand Up @@ -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.
Expand Down Expand Up @@ -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)));

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4 changes: 2 additions & 2 deletions test/integration/added_mass.cc
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Expand Up @@ -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;
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