Fixes precision loss when adding nested models. (#314)

* Fixes precision loss when adding nested models. The precision loss is resolved by explicitly calling std::setprecision for float and double parameters when these are streamed/requested as strings. Signed-off-by: Hauke Heibel <[email protected]> * fixed codecheck errors Signed-off-by: Jenn Nguyen <[email protected]> Co-authored-by: Jenn Nguyen <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>
gazebosim · Feb 4, 2021 · 28124b0 · 28124b0
1 parent a390765
commit 28124b0
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Showing 4 changed files with 22 additions and 6 deletions.
diff --git a/include/sdf/Param.hh b/include/sdf/Param.hh
@@ -23,6 +23,8 @@
 #include <cctype>
 #include <cstdint>
 #include <functional>
+#include <iomanip>
+#include <limits>
 #include <memory>
 #include <optional>
 #include <sstream>
@@ -79,6 +81,20 @@ namespace sdf
     return os;
   }
 
+  template<>
+  inline std::ostream& operator<<(std::ostream &os, ParamStreamer<double> s)
+  {
+    os << std::setprecision(std::numeric_limits<double>::max_digits10) << s.val;
+    return os;
+  }
+
+  template<>
+  inline std::ostream& operator<<(std::ostream &os, ParamStreamer<float> s)
+  {
+    os << std::setprecision(std::numeric_limits<float>::max_digits10) << s.val;
+    return os;
+  }
+
   template<class... Ts>
   std::ostream& operator<<(std::ostream& os,
                            ParamStreamer<std::variant<Ts...>> sv)

diff --git a/test/integration/model/test_model_with_frames/model.sdf b/test/integration/model/test_model_with_frames/model.sdf
@@ -13,15 +13,15 @@
         <pose relative_to="F2"/>
         <geometry>
           <sphere>
-            <radius>1</radius>
+            <radius>1.5707963267948966</radius>
           </sphere>
         </geometry>
       </visual>
       <collision name="C1">
         <pose relative_to="__model__"/>
         <geometry>
           <sphere>
-            <radius>1</radius>
+            <radius>0.78539816339744828</radius>
           </sphere>
         </geometry>
       </collision>

diff --git a/test/integration/nested_model_with_frames_expected.sdf b/test/integration/nested_model_with_frames_expected.sdf
@@ -15,15 +15,15 @@
             <pose relative_to='F2'>0 0 0 0 -0 0</pose>
             <geometry>
               <sphere>
-                <radius>1</radius>
+                <radius>1.5707963267948966</radius>
               </sphere>
             </geometry>
           </visual>
           <collision name='C1'>
             <pose relative_to='__model__'>0 0 0 0 -0 0</pose>
             <geometry>
               <sphere>
-                <radius>1</radius>
+                <radius>0.78539816339744828</radius>
               </sphere>
             </geometry>
           </collision>

diff --git a/test/integration/two_level_nested_model_with_frames_expected.sdf b/test/integration/two_level_nested_model_with_frames_expected.sdf
@@ -16,15 +16,15 @@
               <pose relative_to='F2'>0 0 0 0 -0 0</pose>
               <geometry>
                 <sphere>
-                  <radius>1</radius>
+                  <radius>1.5707963267948966</radius>
                 </sphere>
               </geometry>
             </visual>
             <collision name='C1'>
               <pose relative_to='__model__'>0 0 0 0 -0 0</pose>
               <geometry>
                 <sphere>
-                  <radius>1</radius>
+                  <radius>0.78539816339744828</radius>
                 </sphere>
               </geometry>
             </collision>