Code cleanup

BUILD.bazel

@@ -122,7 +122,6 @@ cc_library(
         "@gz-math",
         "@gz-utils//:Environment",
         "@gz-utils//:ImplPtr",
-        "@gz-utils//:NeverDestroyed",
         "@gz-utils//:SuppressWarning",
         "@tinyxml2",
     ],

Changelog.md

@@ -17,7 +17,7 @@
 1. Add non-const overload for Root::Model() getter
     * [Pull request #1524](https://github.com/gazebosim/sdformat/pull/1524)
 
-1. Remove unncessary <iostream> includes
+1. Remove unnecessary <iostream> includes
     * [Pull request #1523](https://github.com/gazebosim/sdformat/pull/1523)
 
 1. Don't reparse parent elements when cloning.

Migration.md

@@ -183,7 +183,7 @@ one root level model, actor or light.
     + const std::string &BoundingBoxType() const
     + void SetBoundingBoxType(const std::string &)
 
-1. **sdf/Elementh.hh**
+1. **sdf/Element.hh**
     + const Param_V &GetAttributes() const
 
 1. **sdf/Error.hh**
@@ -708,7 +708,7 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
     `//joint/axis2` to specify a linear relationship between the position of two
     joint axes according to the following equation:
     `follower_position = multiplier * (leader_position - reference) + offset`.
-    The joint axis containing the mimic tag is the follwer and the leader is
+    The joint axis containing the mimic tag is the follower and the leader is
     specified using the `@joint` and `@axis` attributes.
     + `//mimic/@joint`: name of joint containing the leader axis.
     + `//mimic/@axis`: name of the leader axis. Only valid values are "axis" or "axis2".
@@ -825,7 +825,7 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
 
 ### Removals
 
-1. **inerial.sdf** `//inertial/pose/@relative_to` attribute is removed
+1. **inertial.sdf** `//inertial/pose/@relative_to` attribute is removed
     + [Pull request 480](https://github.com/osrf/sdformat/pull/480)
 
 ## SDFormat specification 1.6 to 1.7
@@ -895,7 +895,7 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
       It has a special interpretation when specified as a parent or child link
       of a joint.
       Names starting and ending with double underscores (eg. `__wheel__`) must
-      be reserved for use by library implementors and the specification.
+      be reserved for use by library implementers and the specification.
       For example, such names might be useful during parsing for setting
       sentinel or default names for elements with missing names.
       If explicitly stated, they can be referred to (e.g. `__model__` / `world`
@@ -1003,7 +1003,7 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
 
 1. **model.sdf** `enable_wind` element
     + description: If set to true, all links in the model will be affected by
-      the wind.  Can be overriden by the link wind property.
+      the wind.  Can be overridden by the link wind property.
     + type: bool
     + default: false
     + required: 0

doc/mainpage.html

@@ -2,7 +2,7 @@
 /** \mainpage SDF API Reference
 
 This documentation provides useful information about the Simulation
-Desctiption Format API. The code reference is divided into the groups below.
+Description Format API. The code reference is divided into the groups below.
 Should you find problems with this documentation - typos, unclear phrases,
 or insufficient detail - please create a <a
   href="https://github.com/gazebosim/sdformat/issues/new">new GitHub issue</a>.
@@ -14,7 +14,7 @@
    <dt>Class</dt>
    <dd><a href="classes.html">List</a> - Index of all classes in Gazebo, organized alphabetically</dd>
 
-   <dd><a href="hierarchy.html">Hierarchy</a> - Index of classes, organized hierachically according to their inheritance</dd>
+   <dd><a href="hierarchy.html">Hierarchy</a> - Index of classes, organized hierarchically according to their inheritance</dd>
 </dl>
 
 

doc/sdf.in

@@ -913,7 +913,7 @@ HTML_STYLESHEET        = "@CMAKE_SOURCE_DIR@/doc/doxygen.css"
 # user-defined cascading style sheet that is included after the standard
 # style sheets created by doxygen. Using this option one can overrule
 # certain style aspects. This is preferred over using HTML_STYLESHEET
-# since it does not replace the standard style sheet and is therefor more
+# since it does not replace the standard style sheet and is therefore more
 # robust against future updates. Doxygen will copy the style sheet file to
 # the output directory.
 
@@ -1676,7 +1676,7 @@ UML_LOOK               = NO
 # the class node. If there are many fields or methods and many nodes the
 # graph may become too big to be useful. The UML_LIMIT_NUM_FIELDS
 # threshold limits the number of items for each type to make the size more
-# managable. Set this to 0 for no limit. Note that the threshold may be
+# manageable. Set this to 0 for no limit. Note that the threshold may be
 # exceeded by 50% before the limit is enforced.
 
 UML_LIMIT_NUM_FIELDS   = 10

include/sdf/Actor.hh

@@ -33,7 +33,7 @@
 
 namespace sdf
 {
-  // Inline bracke to help doxygen filtering.
+  // Inline bracket to help doxygen filtering.
   inline namespace SDF_VERSION_NAMESPACE {
   //
   /// \brief Animation in Actor.

include/sdf/AirPressure.hh

@@ -26,7 +26,7 @@
 
 namespace sdf
 {
-  // Inline bracke to help doxygen filtering.
+  // Inline bracket to help doxygen filtering.
   inline namespace SDF_VERSION_NAMESPACE {
   /// \brief AirPressure contains information about a general
   /// purpose fluid pressure sensor.
@@ -75,13 +75,13 @@ namespace sdf
     /// \brief Return true if both AirPressure objects contain the
     /// same values.
     /// \param[_in] _mag AirPressure value to compare.
-    /// \returen True if 'this' == _mag.
+    /// \return True if 'this' == _mag.
     public: bool operator==(const AirPressure &_air) const;
 
     /// \brief Return true this AirPressure object does not contain
     /// the same values as the passed in parameter.
     /// \param[_in] _mag AirPressure value to compare.
-    /// \returen True if 'this' != _mag.
+    /// \return True if 'this' != _mag.
     public: bool operator!=(const AirPressure &_air) const;
 
     /// \brief Create and return an SDF element filled with data from this

include/sdf/AirSpeed.hh

@@ -26,7 +26,7 @@
 
 namespace sdf
 {
-  // Inline bracke to help doxygen filtering.
+  // Inline bracket to help doxygen filtering.
   inline namespace SDF_VERSION_NAMESPACE {
   /// \brief AirSpeed contains information about a general
   /// purpose air speed sensor.
@@ -61,13 +61,13 @@ namespace sdf
     /// \brief Return true if both AirSpeed objects contain the
     /// same values.
     /// \param[_in] _air AirSpeed value to compare.
-    /// \returen True if 'this' == _air.
+    /// \return True if 'this' == _air.
     public: bool operator==(const AirSpeed &_air) const;
 
     /// \brief Return true this AirSpeed object does not contain
     /// the same values as the passed in parameter.
     /// \param[_in] _air AirSpeed value to compare.
-    /// \returen True if 'this' != _air.
+    /// \return True if 'this' != _air.
     public: bool operator!=(const AirSpeed &_air) const;
 
     /// \brief Create and return an SDF element filled with data from this

include/sdf/Altimeter.hh

@@ -67,13 +67,13 @@ namespace sdf
 
     /// \brief Return true if both Altimeter objects contain the same values.
     /// \param[_in] _alt Altimeter value to compare.
-    /// \returen True if 'this' == _alt.
+    /// \return True if 'this' == _alt.
     public: bool operator==(const Altimeter &_alt) const;
 
     /// \brief Return true this Altimeter object does not contain the same
     /// values as the passed in parameter.
     /// \param[_in] _alt Altimeter value to compare.
-    /// \returen True if 'this' != _alt.
+    /// \return True if 'this' != _alt.
     public: bool operator!=(const Altimeter &_alt) const;
 
     /// \brief Create and return an SDF element filled with data from this

include/sdf/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Exlcude some files so that they are not added to the master header.
+# Exclude some files so that they are not added to the master header.
 gz_install_all_headers(EXCLUDE_FILES sdf.hh sdf_config.h)
 install(
   FILES

include/sdf/Camera.hh

@@ -64,13 +64,13 @@ namespace sdf
 
     /// \brief Return true if both Camera objects contain the same values.
     /// \param[_in] _alt Camera value to compare.
-    /// \returen True if 'this' == _alt.
+    /// \return True if 'this' == _alt.
     public: bool operator==(const Camera &_alt) const;
 
     /// \brief Return true this Camera object does not contain the same
     /// values as the passed in parameter.
     /// \param[_in] _alt Camera value to compare.
-    /// \returen True if 'this' != _alt.
+    /// \return True if 'this' != _alt.
     public: bool operator!=(const Camera &_alt) const;
 
     /// \brief Load the camera sensor based on an element pointer.
@@ -334,7 +334,7 @@ namespace sdf
     /// \param[in] _center Distortion center or principal point.
     public: void SetDistortionCenter(const gz::math::Vector2d &_center);
 
-    /// \brief Get the pose of the camer. This is the pose of the camera
+    /// \brief Get the pose of the camera. This is the pose of the camera
     /// as specified in SDF (<camera> <pose> ... </pose></camera>).
     /// \return The pose of the link.
     public: const gz::math::Pose3d &RawPose() const;
@@ -562,8 +562,8 @@ namespace sdf
     /// \param[in] _mask visibility mask
     public: void SetVisibilityMask(uint32_t _mask);
 
-    /// \brief Get whether or not the camera has instrinsics values set
-    /// \return True if the camera has instrinsics values set, false otherwise
+    /// \brief Get whether or not the camera has intrinsics values set
+    /// \return True if the camera has intrinsics values set, false otherwise
     public: bool HasLensIntrinsics() const;
 
     /// \brief Get whether or not the camera has projection values set

include/sdf/Collision.hh

@@ -43,7 +43,7 @@ namespace sdf
   struct PoseRelativeToGraph;
   template <typename T> class ScopedGraph;
 
-  /// \brief A collision element descibes the collision properties associated
+  /// \brief A collision element describes the collision properties associated
   /// with a link. This can be different from the visual properties of a link.
   /// For example, simple collision models are often used to reduce
   /// computation time.
@@ -121,7 +121,7 @@ namespace sdf
     public: void SetSurface(const sdf::Surface &_surface);
 
     /// \brief Get the pose of the collision object. This is the pose of the
-    /// collison as specified in SDF
+    /// collision as specified in SDF
     /// (<collision><pose> ... </pose></collision>).
     /// \return The pose of the collision object.
     public: const gz::math::Pose3d &RawPose() const;

include/sdf/CustomInertiaCalcProperties.hh

@@ -58,7 +58,7 @@ class SDFORMAT_VISIBLE CustomInertiaCalcProperties
   /// \param[in] _density Double density value
   public: void SetDensity(double _density);
 
-  /// \brief Get the reference to the mesh oject being used.
+  /// \brief Get the reference to the mesh object being used.
   /// \return Reference to the sdf::Mesh object.
   public: const std::optional<sdf::Mesh> &Mesh() const;
 

include/sdf/Element.hh

@@ -639,7 +639,7 @@ namespace sdf
     /// FindElement
     /// \remarks If there are multiple elements with the given tag, it returns
     ///          the first one.
-    /// \param[in] _name Name of the child element to retreive.
+    /// \param[in] _name Name of the child element to retrieve.
     /// \return Pointer to the existing child element, or a new child
     /// element if an existing child element did not exist.
     public: ElementPtr GetElement(const std::string &_name);
@@ -651,7 +651,7 @@ namespace sdf
     /// FindElement
     /// \remarks If there are multiple elements with the given tag, it returns
     ///          the first one.
-    /// \param[in] _name Name of the child element to retreive.
+    /// \param[in] _name Name of the child element to retrieve.
     /// \param[out] _errors Vector of errors.
     /// \return Pointer to the existing child element, or a new child
     /// element if an existing child element did not exist.
@@ -664,7 +664,7 @@ namespace sdf
     /// fails to find an existing element.
     /// \remarks If there are multiple elements with the given tag, it returns
     ///          the first one.
-    /// \param[in] _name Name of the child element to retreive.
+    /// \param[in] _name Name of the child element to retrieve.
     /// \return Pointer to the existing child element, or nullptr
     /// if the child element was not found.
     public: ElementPtr FindElement(const std::string &_name);
@@ -675,7 +675,7 @@ namespace sdf
     /// fails to find an existing element.
     /// \remarks If there are multiple elements with the given tag, it returns
     ///          the first one.
-    /// \param[in] _name Name of the child element to retreive.
+    /// \param[in] _name Name of the child element to retrieve.
     /// \return Pointer to the existing child element, or nullptr
     /// if the child element was not found.
     public: ElementConstPtr FindElement(const std::string &_name) const;

include/sdf/Error.hh

@@ -92,7 +92,7 @@ namespace sdf
     /// \brief A URI is invalid.
     URI_INVALID,
 
-    /// \brief A error occured while trying to resolve a URI.
+    /// \brief A error occurred while trying to resolve a URI.
     URI_LOOKUP,
 
     /// \brief A filesystem directory does not exist.
@@ -151,7 +151,7 @@ namespace sdf
     /// \brief The provided version has been deprecated or it is pre-versioning
     VERSION_DEPRECATED,
 
-    /// \brief Merge include is unspported for the type of entity being
+    /// \brief Merge include is unsupported for the type of entity being
     /// included, or the custom parser does not support merge includes.
     MERGE_INCLUDE_UNSUPPORTED,
 

include/sdf/Exception.hh

@@ -106,7 +106,7 @@ namespace sdf
 
   /// \class InternalError Exception.hh common/common.hh
   /// \brief Class for generating Internal Gazebo Errors:
-  ///        those errors which should never happend and
+  ///        those errors which should never happened and
   ///        represent programming bugs.
   class SDFORMAT_VISIBLE InternalError : public Exception
   {

include/sdf/Filesystem.hh

@@ -27,7 +27,7 @@
 
 namespace sdf
 {
-  // Inline bracke to help doxygen filtering.
+  // Inline bracket to help doxygen filtering.
   inline namespace SDF_VERSION_NAMESPACE {
   //
 

include/sdf/ForceTorque.hh

@@ -145,13 +145,13 @@ namespace sdf
 
     /// \brief Return true if both force torque objects contain the same values.
     /// \param[_in] _ft Force torque value to compare.
-    /// \returen True if 'this' == _ft.
+    /// \return True if 'this' == _ft.
     public: bool operator==(const ForceTorque &_ft) const;
 
     /// \brief Return true this force torque object does not contain the same
     /// values as the passed-in parameter.
     /// \param[_in] _ft Force torque value to compare.
-    /// \returen True if 'this' != _ft.
+    /// \return True if 'this' != _ft.
     public: bool operator!=(const ForceTorque &_ft) const;
 
     /// \brief Create and return an SDF element filled with data from this

include/sdf/Frame.hh

@@ -37,7 +37,7 @@ namespace sdf
   struct PoseRelativeToGraph;
   template <typename T> class ScopedGraph;
 
-  /// \brief A Frame element descibes the properties associated with an
+  /// \brief A Frame element describes the properties associated with an
   /// explicit frame defined in a Model or World.
   class SDFORMAT_VISIBLE Frame
   {

include/sdf/Imu.hh

@@ -211,11 +211,11 @@ namespace sdf
     ///    facing +z). (default gazebo camera is +x:view direction, +y:left,
     ///    +z:up).
     ///    Example sdf: parent_frame="local", custom_rpy="-0.5*M_PI 0 -0.5*M_PI"
-    /// \return Custom RPY vectory
+    /// \return Custom RPY vector
     public: const gz::math::Vector3d &CustomRpy() const;
 
     /// \brief See CustomRpy() const.
-    /// \param[in] Custom RPY vectory
+    /// \param[in] Custom RPY vector
     public: void SetCustomRpy(const gz::math::Vector3d &_rpy);
 
     /// \brief Get the name of parent frame which the custom_rpy transform is
@@ -244,13 +244,13 @@ namespace sdf
 
     /// \brief Return true if both Imu objects contain the same values.
     /// \param[_in] _imu Imu value to compare.
-    /// \returen True if 'this' == _imu.
+    /// \return True if 'this' == _imu.
     public: bool operator==(const Imu &_imu) const;
 
     /// \brief Return true this Imu object does not contain the same
     /// values as the passed in parameter.
     /// \param[_in] _imu Imu value to compare.
-    /// \returen True if 'this' != _imu.
+    /// \return True if 'this' != _imu.
     public: bool operator!=(const Imu &_imu) const;
 
     /// \brief Create and return an SDF element filled with data from this

include/sdf/InterfaceElements.hh

@@ -17,8 +17,10 @@
 #ifndef SDF_INTERFACE_ELEMENTS_HH_
 #define SDF_INTERFACE_ELEMENTS_HH_
 
+#include <functional>
 #include <string>
 #include <memory>
+#include <optional>
 
 #include <gz/math/Pose3.hh>
 #include <gz/utils/ImplPtr.hh>

include/sdf/InterfaceModel.hh

@@ -20,6 +20,7 @@
 
 #include <functional>
 #include <string>
+#include <optional>
 #include <memory>
 #include <vector>
 

include/sdf/InterfaceModelPoseGraph.hh

@@ -19,8 +19,6 @@
 #define SDF_INTERFACE_MODEL_POSE_GRAPH
 
 #include <string>
-#include <memory>
-#include <vector>
 
 #include <gz/math/Pose3.hh>
 #include <gz/utils/ImplPtr.hh>