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gazebosim / sdformat

Simulation Description Format (SDFormat) parser and description files.
http://sdformat.org
Apache License 2.0
152 stars 90 forks source link

ign.hh: Does not expose all functions consumed by `ign sdf`? #323

Open EricCousineau-TRI opened 3 years ago

EricCousineau-TRI commented 3 years ago

At present (f94626a889), libsdformat only exposes these functions in ign.hh: https://github.com/osrf/sdformat/blob/f94626a8898b0a2898ae65892d76fd1031456133/src/ign.hh#L30-L37

However, ign.cc defines more (cmdDescribe, cmdPrint): https://github.com/osrf/sdformat/blob/f94626a8898b0a2898ae65892d76fd1031456133/src/ign.cc

These are consumed by the intermediate Ruby script: https://github.com/osrf/sdformat/blob/f94626a8898b0a2898ae65892d76fd1031456133/src/cmd/cmdsdformat.rb.in#L150-L158

It would be nice if these were exposed via the header file.

In https://github.com/robotlocomotion/drake/pull/13767, I want to use the check and print functionality to lint and convert models.

(I'm OK-ish with it being an unstable private API, but if it's there, would be nice to have it be consistent?)

jwnimmer-tri commented 2 years ago

Now that cmdPrint is sprouting even more arguments, this issue has become even more acute.

extern "C" int cmdPrint(const char* _path, int _inDegrees, int _snapToDegrees,
                        float _snapTolerance, int _preserveIncludes,
                        int _outPrecision);

https://github.com/RobotLocomotion/drake/pull/17250

EricCousineau-TRI commented 2 years ago

Good point! Alternative to exposing in header file is to simplify CLI interface (if possible), stripping need for Ruby.