From 23ed3a27ed349977b6c7f489df0e2e2d2b6aee93 Mon Sep 17 00:00:00 2001 From: AIRC exercise Date: Fri, 24 May 2019 09:27:01 +0800 Subject: [PATCH] modify thirdparty package:sdformat --- .../sdformat/Exercise_SDF_README.md | 28 +++++++++ .../sdformat/sdf/1.0/CMakeLists.txt | 3 + .../sdformat/sdf/1.0/exercise_opt.sdf | 45 ++++++++++++++ .../thirdparty_pkg/sdformat/sdf/1.0/world.sdf | 1 + .../sdformat/sdf/1.2/CMakeLists.txt | 3 + .../sdformat/sdf/1.2/exercise_opt.sdf | 45 ++++++++++++++ .../thirdparty_pkg/sdformat/sdf/1.2/world.sdf | 1 + .../sdformat/sdf/1.3/CMakeLists.txt | 3 + .../sdformat/sdf/1.3/exercise_opt.sdf | 45 ++++++++++++++ .../thirdparty_pkg/sdformat/sdf/1.3/world.sdf | 1 + .../sdformat/sdf/1.4/CMakeLists.txt | 3 + .../sdformat/sdf/1.4/exercise_opt.sdf | 45 ++++++++++++++ .../thirdparty_pkg/sdformat/sdf/1.4/world.sdf | 1 + .../sdformat/sdf/1.5/CMakeLists.txt | 3 + .../sdformat/sdf/1.5/exercise_opt.sdf | 45 ++++++++++++++ .../thirdparty_pkg/sdformat/sdf/1.5/world.sdf | 1 + .../sdformat/sdf/1.6/CMakeLists.txt | 3 + .../sdformat/sdf/1.6/exercise_opt (copy).sdf | 60 +++++++++++++++++++ .../sdformat/sdf/1.6/exercise_opt.sdf | 45 ++++++++++++++ .../thirdparty_pkg/sdformat/sdf/1.6/world.sdf | 1 + .../sdformat/tools/check_test_ran.py | 0 .../sdformat/tools/code_check.sh | 0 .../sdformat/tools/xmlschema.rb | 0 23 files changed, 382 insertions(+) create mode 100644 Gazebo_exercise/thirdparty_pkg/sdformat/Exercise_SDF_README.md create mode 100644 Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/exercise_opt.sdf create mode 100644 Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/exercise_opt.sdf create mode 100644 Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/exercise_opt.sdf create mode 100644 Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/exercise_opt.sdf create mode 100644 Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/exercise_opt.sdf create mode 100644 Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt (copy).sdf create mode 100644 Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt.sdf mode change 100755 => 100644 Gazebo_exercise/thirdparty_pkg/sdformat/tools/check_test_ran.py mode change 100755 => 100644 Gazebo_exercise/thirdparty_pkg/sdformat/tools/code_check.sh mode change 100755 => 100644 Gazebo_exercise/thirdparty_pkg/sdformat/tools/xmlschema.rb diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/Exercise_SDF_README.md b/Gazebo_exercise/thirdparty_pkg/sdformat/Exercise_SDF_README.md new file mode 100644 index 0000000..7811c82 --- /dev/null +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/Exercise_SDF_README.md @@ -0,0 +1,28 @@ +# Gazebo_exercise优化控制SDF标签使用说明 +2019-05-20 by tjpu_zenglei@sina.com +## 优化控制SDF标签设计总体思路 +为方便用户使用，集中管理自主实现的优化SDF标签，统一设计并实现了基于SDFormat包的优化控制标签。 + +针对目前Gazebo_exercise已经优化的模型预处理模块、UpdatePhysics模块、dxHashSpace::collide模块等分别添加标签（用于设置模型预处理模块并行参数）、（用于设置UpdatePhysics模块并行参数）、（用于设置collide模块并行参数）、（用于选择碰撞空间数据结构类型）。 + +## SDF标签使用说明 +所有优化控制标签均为标签子标签，为标签子标签，如下所示。 +``` + +... + + + 1 + + + + ... + +``` + +标签释义如下： +- 标签：优化总开关。 +- 标签：用于设置模型预处理模块并行优化参数，parallel_type为1~5表示OpenMp优化（一般设置为1即可，其他是采用不同的任务并发方式），threads为开启的线程数；parallel_type为其他数字时表示不开启优化。 +- 标签：用于设置碰撞更新模块中碰撞空间的类型，值为1时表示SAP空间类型，其他数字表示默认的Hash空间类型。 +- 标签：用于设置碰撞更新模块中dxHashSpace::collide模块并行参数，当标签设置为1时，该参数没有意义；其他情况下，threads大于1，表示采用OpenMP并行优化，threads为开启的线程数，否则不开启优化。 +- 标签：用于设置物理更新模块中dxProcessIslands模块并行参数；parallel_type为1~5表示OpenMp优化（一般设置为1即可，其他是采用不同的任务并发方式），threads为开启的线程数；parallel_type为其他数字时表示不开启优化。 diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/CMakeLists.txt b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/CMakeLists.txt index fb1b5fb..16cbb79 100644 --- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/CMakeLists.txt +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/CMakeLists.txt @@ -25,6 +25,9 @@ set (sdfs surface.sdf visual.sdf world.sdf + exercise_opt.sdf + server.sdf + event.sdf ) install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.0/) diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/exercise_opt.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/exercise_opt.sdf new file mode 100644 index 0000000..3488c7a --- /dev/null +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/exercise_opt.sdf @@ -0,0 +1,45 @@ + + + + The Gazebo_exercise tag specifies the on-off and properties of the optimization. + + whether optimize the logic of the topic to pub in the World::processMessages or not + + + target the type of the collide space + + + target the number of the thread that used by parallel. + + The type of parallel. + + + + The numbers of the threads. + + + + + target the number of the thread that used by parallel. + + The type of parallel. + + + + The numbers of the threads. + + + + target the number of the thread that used by parallel. + + The number of thread to parallel. + + + diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/world.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/world.sdf index d2f3cb3..9e46e21 100644 --- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/world.sdf +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/world.sdf @@ -63,4 +63,5 @@ + diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/CMakeLists.txt b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/CMakeLists.txt index e4a15b3..88f5c1c 100644 --- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/CMakeLists.txt +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/CMakeLists.txt @@ -26,6 +26,9 @@ set (sdfs surface.sdf visual.sdf world.sdf + exercise_opt.sdf + server.sdf + event.sdf ) install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.2) diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/exercise_opt.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/exercise_opt.sdf new file mode 100644 index 0000000..3488c7a --- /dev/null +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/exercise_opt.sdf @@ -0,0 +1,45 @@ + + + + The Gazebo_exercise tag specifies the on-off and properties of the optimization. + + whether optimize the logic of the topic to pub in the World::processMessages or not + + + target the type of the collide space + + + target the number of the thread that used by parallel. + + The type of parallel. + + + + The numbers of the threads. + + + + + target the number of the thread that used by parallel. + + The type of parallel. + + + + The numbers of the threads. + + + + target the number of the thread that used by parallel. + + The number of thread to parallel. + + + diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/world.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/world.sdf index d2f3cb3..9e46e21 100644 --- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/world.sdf +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/world.sdf @@ -63,4 +63,5 @@ + diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/CMakeLists.txt b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/CMakeLists.txt index 6eecf92..82cc240 100644 --- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/CMakeLists.txt +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/CMakeLists.txt @@ -27,6 +27,9 @@ set (sdfs surface.sdf visual.sdf world.sdf + exercise_opt.sdf + server.sdf + event.sdf ) install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.3) diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/exercise_opt.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/exercise_opt.sdf new file mode 100644 index 0000000..3488c7a --- /dev/null +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/exercise_opt.sdf @@ -0,0 +1,45 @@ + + + + The Gazebo_exercise tag specifies the on-off and properties of the optimization. + + whether optimize the logic of the topic to pub in the World::processMessages or not + + + target the type of the collide space + + + target the number of the thread that used by parallel. + + The type of parallel. + + + + The numbers of the threads. + + + + + target the number of the thread that used by parallel. + + The type of parallel. + + + + The numbers of the threads. + + + + target the number of the thread that used by parallel. + + The number of thread to parallel. + + + diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/world.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/world.sdf index d2f3cb3..9e46e21 100644 --- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/world.sdf +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/world.sdf @@ -63,4 +63,5 @@ + diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/CMakeLists.txt b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/CMakeLists.txt index b617d80..03e5933 100644 --- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/CMakeLists.txt +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/CMakeLists.txt @@ -42,6 +42,9 @@ set (sdfs transceiver.sdf visual.sdf world.sdf + exercise_opt.sdf + server.sdf + event.sdf ) install(FILES ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat/1.4) diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/exercise_opt.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/exercise_opt.sdf new file mode 100644 index 0000000..3488c7a --- /dev/null +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/exercise_opt.sdf @@ -0,0 +1,45 @@ + + + + The Gazebo_exercise tag specifies the on-off and properties of the optimization. + + whether optimize the logic of the topic to pub in the World::processMessages or not + + + target the type of the collide space + + + target the number of the thread that used by parallel. + + The type of parallel. + + + + The numbers of the threads. + + + + + target the number of the thread that used by parallel. + + The type of parallel. + + + + The numbers of the threads. + + + + target the number of the thread that used by parallel. + + The number of thread to parallel. + + + diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/world.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/world.sdf index d2f3cb3..9e46e21 100644 --- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/world.sdf +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/world.sdf @@ -63,4 +63,5 @@ + diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/CMakeLists.txt b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/CMakeLists.txt index 581b9c6..ac5d84a 100644 --- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/CMakeLists.txt +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/CMakeLists.txt @@ -53,6 +53,9 @@ set (sdfs transceiver.sdf visual.sdf world.sdf + exercise_opt.sdf + server.sdf + event.sdf ) set (SDF_SCHEMA) diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/exercise_opt.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/exercise_opt.sdf new file mode 100644 index 0000000..3488c7a --- /dev/null +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/exercise_opt.sdf @@ -0,0 +1,45 @@ + + + + The Gazebo_exercise tag specifies the on-off and properties of the optimization. + + whether optimize the logic of the topic to pub in the World::processMessages or not + + + target the type of the collide space + + + target the number of the thread that used by parallel. + + The type of parallel. + + + + The numbers of the threads. + + + + + target the number of the thread that used by parallel. + + The type of parallel. + + + + The numbers of the threads. + + + + target the number of the thread that used by parallel. + + The number of thread to parallel. + + + diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/world.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/world.sdf index d2f3cb3..9e46e21 100644 --- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/world.sdf +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/world.sdf @@ -63,4 +63,5 @@ + diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/CMakeLists.txt b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/CMakeLists.txt index 5e1884e..d3910de 100644 --- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/CMakeLists.txt +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/CMakeLists.txt @@ -54,6 +54,9 @@ set (sdfs transceiver.sdf visual.sdf world.sdf + exercise_opt.sdf + server.sdf + event.sdf ) set (SDF_SCHEMA) diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt (copy).sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt (copy).sdf new file mode 100644 index 0000000..1fa4944 --- /dev/null +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt (copy).sdf @@ -0,0 +1,60 @@ + + + + The Gazebo_exercise tag specifies the on-off and properties of the optimization. + + whether optimize the logic of the topic to pub in the World::processMessages or not + + + target the type of the collide space + + + target the number of the thread that used by parallel. + + The type of parallel. + + + + The numbers of the threads. + + + + the size of block to tbb thread + + + + the type to block partion + + + + target the number of the thread that used by parallel. + + The type of parallel. + + + + The numbers of the threads. + + + + the size of block to tbb thread + + + + the type to block partion + + + + target the number of the thread that used by parallel. + + The number of thread to parallel. + + + diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt.sdf new file mode 100644 index 0000000..3488c7a --- /dev/null +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt.sdf @@ -0,0 +1,45 @@ + + + + The Gazebo_exercise tag specifies the on-off and properties of the optimization. + + whether optimize the logic of the topic to pub in the World::processMessages or not + + + target the type of the collide space + + + target the number of the thread that used by parallel. + + The type of parallel. + + + + The numbers of the threads. + + + + + target the number of the thread that used by parallel. + + The type of parallel. + + + + The numbers of the threads. + + + + target the number of the thread that used by parallel. + + The number of thread to parallel. + + + diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/world.sdf b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/world.sdf index d2f3cb3..9e46e21 100644 --- a/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/world.sdf +++ b/Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/world.sdf @@ -63,4 +63,5 @@ + diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/tools/check_test_ran.py b/Gazebo_exercise/thirdparty_pkg/sdformat/tools/check_test_ran.py old mode 100755 new mode 100644 diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/tools/code_check.sh b/Gazebo_exercise/thirdparty_pkg/sdformat/tools/code_check.sh old mode 100755 new mode 100644 diff --git a/Gazebo_exercise/thirdparty_pkg/sdformat/tools/xmlschema.rb b/Gazebo_exercise/thirdparty_pkg/sdformat/tools/xmlschema.rb old mode 100755 new mode 100644