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modify thirdparty package:sdformat

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AIRC exercise 2019-05-24 09:27:01 +08:00
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Gazebo_exercise/thirdparty_pkg/sdformat/Exercise_SDF_README.md Normal file
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# 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<event_signal>（用于设置模型预处理模块并行参数）、<updatephysics_dxprocessislands>（用于设置UpdatePhysics模块并行参数）、<dxhashspace_collide>（用于设置collide模块并行参数）、<collide_space>（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<exercise_opt>子标签，<exercise_opt>为标签<world>子标签，如下所示。
```
<world>
...
<exercise_opt>
<event_signal parallel_type=1 threads=7 />
<collide_space>1</collide_space>
<dxhashspace_collide threads=7 />
<updatephysics_dxprocessislands parallel_type=1 threads=4 />
</exercise_opt>
...
</world>
```
标签释义如下：
- <exercise_opt>标签：优化总开关。
- <event_signal>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。
- <collide_space>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。
- <dxhashspace_collide>标签：用于设置碰撞更新模块中dxHashSpace::collide模块并行参数，当<collide_space>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。
- <updatephysics_dxprocessislands>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。

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Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/CMakeLists.txt
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@ -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/)

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Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/exercise_opt.sdf Normal file
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<!-- Exercise_opt -->
<!--
***********************************************************
**Description: the gazebo_exercise labels to optimize *
**Author: zenglei *
**Date: 2019-05-15 *
**Version: V1.0 *
***********************************************************
-->
<element name="exercise_opt" required="0">
<description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
<element name="process_messages_switch" type="bool" default="1" required="0">
<description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
</element>
<element name="collide_space" type="int" default="0" required="0">
<description>target the type of the collide space</description>
</element>
<element name="event_signal" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="parallel_type" type="int" default="0" required="0">
<description>The type of parallel.</description>
</attribute>
<attribute name="threads" type="int" default="8" required="0">
<description>The numbers of the threads.</description>
</attribute>
</element>
<element name="updatephysics_dxprocessislands" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="parallel_type" type="int" default="0" required="0">
<description>The type of parallel.</description>
</attribute>
<attribute name="threads" type="int" default="8" required="0">
<description>The numbers of the threads.</description>
</attribute>
</element>
<element name="dxhashspace_collide" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="threads" type="int" default="0" required="0">
<description>The number of thread to parallel.</description>
</attribute>
</element>
</element> <!-- exercise_opt -->

1
Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.0/world.sdf
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@ -63,4 +63,5 @@
<include filename="population.sdf" required="*"/>
<include filename="event.sdf" required="0"/>
<include filename="server.sdf" required="0"/>
<include filename="exercise_opt.sdf" required="0"/>
</element> <!-- End World -->

3
Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/CMakeLists.txt
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@ -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)

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Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/exercise_opt.sdf Normal file
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<!-- Exercise_opt -->
<!--
***********************************************************
**Description: the gazebo_exercise labels to optimize *
**Author: zenglei *
**Date: 2019-05-15 *
**Version: V1.0 *
***********************************************************
-->
<element name="exercise_opt" required="0">
<description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
<element name="process_messages_switch" type="bool" default="1" required="0">
<description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
</element>
<element name="collide_space" type="int" default="0" required="0">
<description>target the type of the collide space</description>
</element>
<element name="event_signal" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="parallel_type" type="int" default="0" required="0">
<description>The type of parallel.</description>
</attribute>
<attribute name="threads" type="int" default="8" required="0">
<description>The numbers of the threads.</description>
</attribute>
</element>
<element name="updatephysics_dxprocessislands" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="parallel_type" type="int" default="0" required="0">
<description>The type of parallel.</description>
</attribute>
<attribute name="threads" type="int" default="8" required="0">
<description>The numbers of the threads.</description>
</attribute>
</element>
<element name="dxhashspace_collide" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="threads" type="int" default="0" required="0">
<description>The number of thread to parallel.</description>
</attribute>
</element>
</element> <!-- exercise_opt -->

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Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.2/world.sdf
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@ -63,4 +63,5 @@
<include filename="population.sdf" required="*"/>
<include filename="event.sdf" required="0"/>
<include filename="server.sdf" required="0"/>
<include filename="exercise_opt.sdf" required="0"/>
</element> <!-- End World -->

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Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/CMakeLists.txt
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@ -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)

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Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/exercise_opt.sdf Normal file
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<!-- Exercise_opt -->
<!--
***********************************************************
**Description: the gazebo_exercise labels to optimize *
**Author: zenglei *
**Date: 2019-05-15 *
**Version: V1.0 *
***********************************************************
-->
<element name="exercise_opt" required="0">
<description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
<element name="process_messages_switch" type="bool" default="1" required="0">
<description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
</element>
<element name="collide_space" type="int" default="0" required="0">
<description>target the type of the collide space</description>
</element>
<element name="event_signal" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="parallel_type" type="int" default="0" required="0">
<description>The type of parallel.</description>
</attribute>
<attribute name="threads" type="int" default="8" required="0">
<description>The numbers of the threads.</description>
</attribute>
</element>
<element name="updatephysics_dxprocessislands" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="parallel_type" type="int" default="0" required="0">
<description>The type of parallel.</description>
</attribute>
<attribute name="threads" type="int" default="8" required="0">
<description>The numbers of the threads.</description>
</attribute>
</element>
<element name="dxhashspace_collide" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="threads" type="int" default="0" required="0">
<description>The number of thread to parallel.</description>
</attribute>
</element>
</element> <!-- exercise_opt -->

1
Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.3/world.sdf
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@ -63,4 +63,5 @@
<include filename="population.sdf" required="*"/>
<include filename="event.sdf" required="0"/>
<include filename="server.sdf" required="0"/>
<include filename="exercise_opt.sdf" required="0"/>
</element> <!-- End World -->

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Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/CMakeLists.txt
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@ -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)

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Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/exercise_opt.sdf Normal file
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@ -0,0 +1,45 @@
<!-- Exercise_opt -->
<!--
***********************************************************
**Description: the gazebo_exercise labels to optimize *
**Author: zenglei *
**Date: 2019-05-15 *
**Version: V1.0 *
***********************************************************
-->
<element name="exercise_opt" required="0">
<description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
<element name="process_messages_switch" type="bool" default="1" required="0">
<description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
</element>
<element name="collide_space" type="int" default="0" required="0">
<description>target the type of the collide space</description>
</element>
<element name="event_signal" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="parallel_type" type="int" default="0" required="0">
<description>The type of parallel.</description>
</attribute>
<attribute name="threads" type="int" default="8" required="0">
<description>The numbers of the threads.</description>
</attribute>
</element>
<element name="updatephysics_dxprocessislands" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="parallel_type" type="int" default="0" required="0">
<description>The type of parallel.</description>
</attribute>
<attribute name="threads" type="int" default="8" required="0">
<description>The numbers of the threads.</description>
</attribute>
</element>
<element name="dxhashspace_collide" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="threads" type="int" default="0" required="0">
<description>The number of thread to parallel.</description>
</attribute>
</element>
</element> <!-- exercise_opt -->

1
Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.4/world.sdf
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@ -63,4 +63,5 @@
<include filename="population.sdf" required="*"/>
<include filename="event.sdf" required="0"/>
<include filename="server.sdf" required="0"/>
<include filename="exercise_opt.sdf" required="0"/>
</element> <!-- End World -->

3
Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/CMakeLists.txt
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@ -53,6 +53,9 @@ set (sdfs
transceiver.sdf
visual.sdf
world.sdf
exercise_opt.sdf
server.sdf
event.sdf
)
set (SDF_SCHEMA)

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Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/exercise_opt.sdf Normal file
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@ -0,0 +1,45 @@
<!-- Exercise_opt -->
<!--
***********************************************************
**Description: the gazebo_exercise labels to optimize *
**Author: zenglei *
**Date: 2019-05-15 *
**Version: V1.0 *
***********************************************************
-->
<element name="exercise_opt" required="0">
<description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
<element name="process_messages_switch" type="bool" default="1" required="0">
<description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
</element>
<element name="collide_space" type="int" default="0" required="0">
<description>target the type of the collide space</description>
</element>
<element name="event_signal" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="parallel_type" type="int" default="0" required="0">
<description>The type of parallel.</description>
</attribute>
<attribute name="threads" type="int" default="8" required="0">
<description>The numbers of the threads.</description>
</attribute>
</element>
<element name="updatephysics_dxprocessislands" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="parallel_type" type="int" default="0" required="0">
<description>The type of parallel.</description>
</attribute>
<attribute name="threads" type="int" default="8" required="0">
<description>The numbers of the threads.</description>
</attribute>
</element>
<element name="dxhashspace_collide" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="threads" type="int" default="0" required="0">
<description>The number of thread to parallel.</description>
</attribute>
</element>
</element> <!-- exercise_opt -->

1
Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.5/world.sdf
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@ -63,4 +63,5 @@
<include filename="population.sdf" required="*"/>
<include filename="event.sdf" required="0"/>
<include filename="server.sdf" required="0"/>
<include filename="exercise_opt.sdf" required="0"/>
</element> <!-- End World -->

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Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/CMakeLists.txt
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@ -54,6 +54,9 @@ set (sdfs
transceiver.sdf
visual.sdf
world.sdf
exercise_opt.sdf
server.sdf
event.sdf
)
set (SDF_SCHEMA)

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Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt (copy).sdf Normal file
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@ -0,0 +1,60 @@
<!-- Exercise_opt -->
<!--
***********************************************************
**Description: the gazebo_exercise labels to optimize *
**Author: zenglei *
**Date: 2019-05-15 *
**Version: V1.0 *
***********************************************************
-->
<element name="exercise_opt" required="0">
<description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
<element name="process_messages_switch" type="bool" default="1" required="0">
<description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
</element>
<element name="collide_space" type="int" default="0" required="0">
<description>target the type of the collide space</description>
</element>
<element name="event_signal" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="parallel_type" type="int" default="0" required="0">
<description>The type of parallel.</description>
</attribute>
<attribute name="threads" type="int" default="8" required="0">
<description>The numbers of the threads.</description>
</attribute>
<attribute name="tbb_type" type="int" default="25" required="0">
<description>the size of block to tbb thread</description>
</attribute>
<attribute name="tbb_block_size" type="int" default="0" required="0">
<description>the type to block partion</description>
</attribute>
</element>
<element name="updatephysics_dxprocessislands" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="parallel_type" type="int" default="0" required="0">
<description>The type of parallel.</description>
</attribute>
<attribute name="threads" type="int" default="8" required="0">
<description>The numbers of the threads.</description>
</attribute>
<attribute name="tbb_type" type="int" default="25" required="0">
<description>the size of block to tbb thread</description>
</attribute>
<attribute name="tbb_block_size" type="int" default="0" required="0">
<description>the type to block partion</description>
</attribute>
</element>
<element name="dxhashspace_collide" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="threads" type="int" default="0" required="0">
<description>The number of thread to parallel.</description>
</attribute>
</element>
</element> <!-- exercise_opt -->

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Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/exercise_opt.sdf Normal file
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@ -0,0 +1,45 @@
<!-- Exercise_opt -->
<!--
***********************************************************
**Description: the gazebo_exercise labels to optimize *
**Author: zenglei *
**Date: 2019-05-15 *
**Version: V1.0 *
***********************************************************
-->
<element name="exercise_opt" required="0">
<description>The Gazebo_exercise tag specifies the on-off and properties of the optimization.</description>
<element name="process_messages_switch" type="bool" default="1" required="0">
<description>whether optimize the logic of the topic to pub in the World::processMessages or not</description>
</element>
<element name="collide_space" type="int" default="0" required="0">
<description>target the type of the collide space</description>
</element>
<element name="event_signal" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="parallel_type" type="int" default="0" required="0">
<description>The type of parallel.</description>
</attribute>
<attribute name="threads" type="int" default="8" required="0">
<description>The numbers of the threads.</description>
</attribute>
</element>
<element name="updatephysics_dxprocessislands" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="parallel_type" type="int" default="0" required="0">
<description>The type of parallel.</description>
</attribute>
<attribute name="threads" type="int" default="8" required="0">
<description>The numbers of the threads.</description>
</attribute>
</element>
<element name="dxhashspace_collide" required="0">
<description>target the number of the thread that used by parallel.</description>
<attribute name="threads" type="int" default="0" required="0">
<description>The number of thread to parallel.</description>
</attribute>
</element>
</element> <!-- exercise_opt -->

1
Gazebo_exercise/thirdparty_pkg/sdformat/sdf/1.6/world.sdf
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@ -63,4 +63,5 @@
<include filename="population.sdf" required="*"/>
<include filename="event.sdf" required="0"/>
<include filename="server.sdf" required="0"/>
<include filename="exercise_opt.sdf" required="0"/>
</element> <!-- End World -->

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Gazebo_exercise/thirdparty_pkg/sdformat/tools/check_test_ran.py Executable file → Normal file
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Gazebo_exercise/thirdparty_pkg/sdformat/tools/code_check.sh Executable file → Normal file
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Gazebo_exercise/thirdparty_pkg/sdformat/tools/xmlschema.rb Executable file → Normal file
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