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Add GeometryRevision. (RobotLocomotion#14196)
* Add GeometryVersion. Resolves RobotLocomotion#13176. GeometryState owns a GeometryVersion that enables a easy query when the roles of the underlying geometries change. Downstream systems may query the version through SceneGraphInspector.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| #include "drake/geometry/geometry_version.h" | ||
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| namespace drake { | ||
| namespace geometry { | ||
| bool GeometryVersion::IsSameAs(const GeometryVersion& other, Role role) const { | ||
| switch (role) { | ||
| case Role::kUnassigned: | ||
| throw std::logic_error( | ||
| "Trying to compare the version of unassigned roles."); | ||
| case Role::kProximity: | ||
| return proximity_version_id_ == other.proximity_version_id_; | ||
| case Role::kIllustration: | ||
| return illustration_version_id_ == other.illustration_version_id_; | ||
| case Role::kPerception: | ||
| return perception_version_id_ == other.perception_version_id_; | ||
| } | ||
| DRAKE_UNREACHABLE(); | ||
| } | ||
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| GeometryVersion::GeometryVersion() | ||
| : proximity_version_id_(RoleVersionId::get_new_id()), | ||
| perception_version_id_(RoleVersionId::get_new_id()), | ||
| illustration_version_id_(RoleVersionId::get_new_id()) {} | ||
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| void GeometryVersion::modify_proximity() { | ||
| proximity_version_id_ = RoleVersionId::get_new_id(); | ||
| } | ||
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| void GeometryVersion::modify_perception() { | ||
| perception_version_id_ = RoleVersionId::get_new_id(); | ||
| } | ||
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| void GeometryVersion::modify_illustration() { | ||
| illustration_version_id_ = RoleVersionId::get_new_id(); | ||
| } | ||
| } // namespace geometry | ||
| } // namespace drake |
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| #pragma once | ||
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| #include "drake/common/drake_copyable.h" | ||
| #include "drake/common/identifier.h" | ||
| #include "drake/geometry/geometry_roles.h" | ||
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| namespace drake { | ||
| namespace geometry { | ||
| /** | ||
| A version numbering class that reports revisions of SceneGraph's geometric data. | ||
| Other Systems can use this version number to perform updates when they detect | ||
| changes to the geometric data they consume. The version of the geometry data is | ||
| made available through SceneGraphInspector. | ||
| The geometry data is partitioned by geometric role and have independent role | ||
| version values. Some of SceneGraph's API (as variously documented) will cause | ||
| one or more role versions to change. This class provides the API `IsSameAs` | ||
| that takes another GeometryVersion as well as a Role to help detect whether the | ||
| provided role of the geometries may have changed. For example: | ||
| @code | ||
| // Downstream system holds an instance of GeometryVersion `old_version` as a | ||
| // reference to compare against. | ||
| // Get the version under test from SceneGraphInspector. | ||
| const GeometryVersion& test_version = scene_graph_inspector.geometry_version(); | ||
| // Determine if two versions have the same proximity data. | ||
| bool same_proximity = old_version.IsSameAs(test_version, Role::kProximity); | ||
| @endcode | ||
| */ | ||
| class GeometryVersion { | ||
| public: | ||
| DRAKE_DEFAULT_COPY_AND_MOVE_AND_ASSIGN(GeometryVersion); | ||
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| /** Returns true if `this` GeometryVersion has the same `role` | ||
| version as the `other` GeometryVersion. */ | ||
| bool IsSameAs(const GeometryVersion& other, Role role) const; | ||
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| private: | ||
| using RoleVersionId = Identifier<class RoleVersionTag>; | ||
| /* Only GeometryState can update the role versions and construct | ||
| GeometryVersion from scratch. Downstream systems should obtain a reference | ||
| through the API provided by SceneGraphInspector if they want the version. | ||
| They then may choose to retain a copy if needed. */ | ||
| template <typename T> | ||
| friend class GeometryState; | ||
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| /* Facilitates testing. */ | ||
| friend class GeometryVersionTest; | ||
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| /* Create unique version id for all roles so that the new geometry version | ||
| unique. */ | ||
| GeometryVersion(); | ||
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| void modify_proximity(); | ||
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| void modify_perception(); | ||
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| void modify_illustration(); | ||
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| RoleVersionId proximity_version_id_; | ||
| RoleVersionId perception_version_id_; | ||
| RoleVersionId illustration_version_id_; | ||
| }; | ||
| } // namespace geometry | ||
| } // namespace drake |
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