Add config schemas

CMakeLists.txt

@@ -8,3 +8,5 @@ find_package(Rock)
 
 rock_init()
 rock_standard_layout()
+
+install(DIRECTORY configuration/schema/ DESTINATION share/envire_types/schema)

configuration/schema/Inertial_schema.yml

@@ -0,0 +1,24 @@
+name:
+  type: string
+  required: true
+mass:
+  type: number
+  required: true
+xx:
+  type: number
+  required: true
+xy:
+  type: number
+  required: true
+xz:
+  type: number
+  required: true
+yy:
+  type: number
+  required: true
+yz:
+  type: number
+  required: true
+zz:
+  type: number
+  required: true

configuration/schema/Link_schema.yml

@@ -0,0 +1,3 @@
+name:
+  type: string
+  required: true

configuration/schema/World_schema.yml

@@ -0,0 +1,6 @@
+name:
+  type: string
+  required: true
+prefix:
+  type: string
+  required: true

configuration/schema/geometry/Box_schema.yml

@@ -0,0 +1,82 @@
+name:
+  type: string
+  required: true
+size:
+  type: object
+  required: true
+  properties:
+    x:
+      type: number
+      required: true
+    y:
+      type: number
+      required: true
+    z:
+      type: number
+      required: true
+material:
+  type: object
+  properties:
+    name:
+      type: string
+    ambientColor:
+      type: object
+      properties:
+        r:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        g:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        b:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        a:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+    diffuseColor:
+      type: object
+      properties:
+        r:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        g:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        b:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        a:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+    specularColor:
+      type: object
+      properties:
+        r:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        g:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        b:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        a:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+    shininess:
+      type: number
+    textureFilename:
+      type: string

configuration/schema/geometry/Capsule_schema.yml

@@ -0,0 +1,75 @@
+name:
+  type: string
+  required: true
+radius:
+  type: number
+  required: true
+length:
+  type: number
+  required: true
+material:
+  type: object
+  properties:
+    name:
+      type: string
+    ambientColor:
+      type: object
+      properties:
+        r:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        g:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        b:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        a:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+    diffuseColor:
+      type: object
+      properties:
+        r:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        g:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        b:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        a:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+    specularColor:
+      type: object
+      properties:
+        r:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        g:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        b:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        a:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+    shininess:
+      type: number
+    textureFilename:
+      type: string

configuration/schema/geometry/Cylinder_schema.yml

@@ -0,0 +1,75 @@
+name:
+  type: string
+  required: true
+radius:
+  type: number
+  required: true
+length:
+  type: number
+  required: true
+material:
+  type: object
+  properties:
+    name:
+      type: string
+    ambientColor:
+      type: object
+      properties:
+        r:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        g:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        b:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        a:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+    diffuseColor:
+      type: object
+      properties:
+        r:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        g:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        b:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        a:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+    specularColor:
+      type: object
+      properties:
+        r:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        g:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        b:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        a:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+    shininess:
+      type: number
+    textureFilename:
+      type: string

configuration/schema/geometry/Heightfield_schema.yml

@@ -0,0 +1,69 @@
+name:
+  type: string
+  required: true
+material:
+  type: object
+  properties:
+    name:
+      type: string
+    ambientColor:
+      type: object
+      properties:
+        r:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        g:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        b:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        a:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+    diffuseColor:
+      type: object
+      properties:
+        r:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        g:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        b:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        a:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+    specularColor:
+      type: object
+      properties:
+        r:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        g:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        b:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+        a:
+          type: number
+          minimum: 0.0
+          maximum: 1.0
+    shininess:
+      type: number
+    textureFilename:
+      type: string