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John Hsu committed 976852f Merge

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 57f6dd87296d23c72fabdb495670fa77370c8d75 gazebo_1.2.6
 57f6dd87296d23c72fabdb495670fa77370c8d75 gazebo_1.2.6
 f3163222038fd0daff3b16d0f8ee634d53016cdc gazebo_1.2.6
+02a2ec16375a0825ea76c824f577ab0568bedbc0 gazebo_1.3.0
 project (Gazebo)
 string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
 
-set (GAZEBO_VERSION_NAME "helium")
+set (GAZEBO_VERSION_NAME "lithium")
 set (GAZEBO_MAJOR_VERSION 1)
 set (GAZEBO_MINOR_VERSION 3)
 set (GAZEBO_PATCH_VERSION 0)
 Software License Agreement (Apache License)
 
-Copyright 2011 Nathan Koenig
+Copyright 2012 Open Source Robotics Foundation
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.

deps/opende/src/quickstep.cpp

       dReal error = 0;
       for (int i=0; i<m; i++) error += dFabs(tmp[i]);
       printf ("velocity error = %10.6e\n",error);
+    }
   }
 
 #endif

doc/gazebo_logo.png

Old
Old image
New
New image
         <dd><a href="http://gazebosim.org/wiki">Wiki</a></dd>
         <dd><a href="http://gazebosim.org/wiki/Tutorials">Tutorials</a></dd>
         <dd><a href="http://gazebosim.org/downloads.html">Download</a></dd>
+        <dd><a href="https://bitbucket.org/osrf/gazebo/issues/new">Report Documentation Issues</a></dd>
       </dl>
     </div>
     <div>

doc/mainpage.html

 
 /** \mainpage Gazebo API Reference
 
+This documentation provides useful information about the Gazebo 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://bitbucket.org/osrf/gazebo/issues/new">new bitbucket 
+issue</a>. Include sufficient detail to quickly locate the problematic 
+documentation, and set the issue's fields accordingly: Assignee - blank; 
+Kind - bug; Priority - minor; Version - blank.
 
-Gazebo is a multi-robot simulator for both indoor and outdoor
-environments.  It is capable of simulating a population of
-robots, sensors and objects, but does so in a three-dimensional
-world. It generates realistic sensor feedback, object collisions and
-dynamics.
+<dl>
+   <dt>Class</dt>
+   <dd><a href="classes.html">List</a> - Index of all classes in Gazebo, organized alphabetically</dd>
 
-<a href="http://gazebosim.org/">Website</a>: The main gazebo website, which contains news, downloads, and contact information.
+   <dd><a href="hierarchy.html">Hierarchy</a> - Index of classes, organized hierachically according to their inheritance</dd>
+</dl>
 
-<a href="http://gazebosim.org/wiki/tutorials">Tutorials</a>: Tutorials that describe how to use Gazebo and implement your own simulations.
 
-<a href="http://gazebosim.org/wiki">Wiki</a>: A collection of user supported documentation. 
+
+<dl>
+   <dt><a href="modules.html" style="font-weight:bold">Modules</a></dt>
+   <dd><a href="group__gazebo__common.html">Common</a>: Classes and files used ubiquitously across Gazebo</dd>
+
+   <dd><a href="group__gazebo__event.html">Events</a>: For creating and destroying Gazebo events</dd>
+
+   <dd><a href="group__gazebo__math.html">Math</a>: A set of classes that encapsulate math related properties and functions.</dd>
+
+   <dd><a href="group__gazebo__msgs.html">Messages</a>: All messages and helper functions.</dd>
+
+   <dd><a href="group__gazebo__physics.html">Physics</a>: Classes for physics and dynamics</dd>
+
+   <dd><a href="group__gazebo__rendering.html">Rendering</a>: A set of rendering related class, functions, and definitions.</dd>
+
+   <dd><a href="group__gazebo__sensors.html">Sensors</a>: A set of sensor classes, functions, and definitions.</dd>
+
+   <dd><a href="group__gazebo__transport.html">Transport</a>: Handles transportation of messages.</dd>
+</dl>
+
+
+<dl>
+   <dt>Links</dt>
+   <dd><a href="http://gazebosim.org/">Website</a>: The main gazebo website, which contains news, downloads, and contact information.</dd>
+
+   <dd><a href="http://gazebosim.org/wiki">Wiki</a>: A collection of user supported documentation.</dd>
+
+   <dd><a href="http://gazebosim.org/wiki/tutorials">Tutorials</a>: Tutorials that describe how to use Gazebo and implement your own simulations.</dd>
+
+   <dd><a href="http://gazebosim.org/downloads.html">Download</a>: How to download and install Gazebo</dd>
+</dl>
+
+
 */

examples/plugins/animate_joints/animate_joints.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/plugins/animate_pose/animate_pose.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/plugins/camera/camera_dump.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/plugins/camera/camera_move.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/plugins/custom_messages/custom_messages.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/plugins/factory/factory.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/plugins/hello_world/hello_world.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/plugins/model_push/model_push.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/plugins/model_visuals/model_visuals.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/plugins/parameters/parameters.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/plugins/pr2_pose_test.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/plugins/presentation.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/plugins/projector/projector.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/plugins/ray_test.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/plugins/system_gui_plugin/system_gui.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/plugins/world_edit/world_edit.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

examples/stand_alone/listener/listener.cc

 /*
- * Copyright 2011 Nate Koenig & Andrew Howard
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
   }
   catch(std::exception &_e)
   {
-    gzthrow("Unable to start server[" << _e.what() << "]\n");
+    gzthrow("Unable to start server[" << _e.what() << "]. "
+            "There is probably another Gazebo process running.");
   }
 }
 
 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Animation.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Animation.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/BVHLoader.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/BVHLoader.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/ColladaLoader.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/ColladaLoader.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Color.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Color.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Common.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Common.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/CommonTypes.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Console.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Console.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Diagnostics.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Diagnostics.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Event.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Event.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
       /// \param[in] _id The id of the connection to disconnect
       public: virtual void Disconnect(int _id);
 
+      /// \brief Get the number of connections.
+      /// \return Number of connection to this Event.
+      public: unsigned int ConnectionCount() const;
+
       /// \brief Access the signal
       public: void operator()()
               {this->Signal();}
       _c->id = -1;
     }
 
+    template<typename T>
+    unsigned int EventT<T>::ConnectionCount() const
+    {
+      return this->connections.size();
+    }
+
     /// \brief Removes a connection
     /// \param[in] _id the connection index
     template<typename T>

gazebo/common/Events.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Events.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Exception.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Exception.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Image.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
     else
       gzerr << "Unable to find image[" << _filename << "]\n";
   }
-  else
-  {
-      /// @todo: fixme: this error shows for any
-      /// regular constructor without a filename
-      /// a parameter, since it defaults to empty.
-      /// is this error really needed?
-      gzerr << "Image filename is empty.\n";
-  }
 }
 
 //////////////////////////////////////////////////
 //////////////////////////////////////////////////
 Image::PixelFormat Image::GetPixelFormat() const
 {
-  Image::PixelFormat fmt = UNKNOWN;
+  Image::PixelFormat fmt = UNKNOWN_PIXEL_FORMAT;
   FREE_IMAGE_TYPE type = FreeImage_GetImageType(this->bitmap);
 
   unsigned int redMask = FreeImage_GetRedMask(this->bitmap);
 
   return fmt;
 }
+
+/////////////////////////////////////////////////
+Image::PixelFormat Image::ConvertPixelFormat(const std::string &_format)
+{
+  for (unsigned int i = 0; i < PIXEL_FORMAT_COUNT; ++i)
+    if (PixelFormatNames[i] == _format)
+      return static_cast<PixelFormat>(i);
+
+  return UNKNOWN_PIXEL_FORMAT;
+}
+

gazebo/common/Image.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
     /// \addtogroup gazebo_common Common
     /// \{
 
+    /// \brief String names for the pixel formats.
+    /// \sa Image::PixelFormat.
+    static std::string PixelFormatNames[] =
+    {
+      "UNKNOWN_PIXEL_FORMAT",
+      "L_INT8",
+      "L_INT16",
+      "RGB_INT8",
+      "RGBA_INT8",
+      "BGRA_INT8",
+      "RGB_INT16",
+      "RGB_INT32",
+      "BGR_INT8",
+      "BGR_INT16",
+      "BGR_INT32",
+      "R_FLOAT16",
+      "RGB_FLOAT16",
+      "R_FLOAT32",
+      "RGB_FLOAT32",
+      "BAYER_RGGB8",
+      "BAYER_RGGR8",
+      "BAYER_GBRG8",
+      "BAYER_GRBG8"
+    };
+
     /// \class Image Image.hh common/common.hh
     /// \brief Encapsulates an image
     class Image
     {
       /// \brief Pixel formats enumeration
-      public: enum PixelFormat {
-                UNKNOWN,
+      public: enum PixelFormat
+              {
+                UNKNOWN_PIXEL_FORMAT,
                 L_INT8,
                 L_INT16,
                 RGB_INT8,
                 BAYER_RGGB8,
                 BAYER_RGGR8,
                 BAYER_GBRG8,
-                BAYER_GRBG8
+                BAYER_GRBG8,
+                PIXEL_FORMAT_COUNT
               };
 
+
+      /// \brief Convert a string to a Image::PixelFormat.
+      /// \param[in] _format Pixel format string. \sa Image::PixelFormatNames
+      /// \return Image::PixelFormat
+      public: static Image::PixelFormat ConvertPixelFormat(
+                  const std::string &_format);
+
       /// \brief Constructor
       /// \param[in] _filename the path to the image
-      public: Image(const std::string &_filename="");
+      public: explicit Image(const std::string &_filename="");
 
       /// \brief Destructor
       public: virtual ~Image();

gazebo/common/KeyFrame.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/KeyFrame.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/LogPlay.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
 void LogPlay::ReadHeader()
 {
   std::string logVersion, gazeboVersion;
-  uint32_t randSeed;
+  uint32_t randSeed = math::Rand::GetSeed();
   TiXmlElement *headerXml, *childXml;
 
   // Get the header element

gazebo/common/LogPlay.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/LogRecord.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/LogRecord.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Material.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * limitations under the License.
  *
  */
-#define BOOST_FILESYSTEM_VERSION 2
 
 #include <boost/filesystem.hpp>
 #include <algorithm>

gazebo/common/Material.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Mesh.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Mesh.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/MeshLoader.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/MeshLoader.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/MeshManager.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
 }
 
 //////////////////////////////////////////////////
-// Copyright (c) 2000-2009 Torus Knot Software Ltd
 void MeshManager::CreatePlane(const std::string &name,
     const math::Vector3 &normal, double d, const math::Vector2d &size,
     const math::Vector2d &segments, const math::Vector2d &uvTile)
 }
 
 //////////////////////////////////////////////////
-// Copyright (c) 2000-2009 Torus Knot Software Ltd
 void MeshManager::Tesselate2DMesh(SubMesh *sm, int meshWidth, int meshHeight,
     bool doubleSided)
 {

gazebo/common/MeshManager.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/ModelDatabase.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  *
 */
 
-#define BOOST_FILESYSTEM_VERSION 2
-
 #include <tinyxml.h>
 #include <libtar.h>
 #include <curl/curl.h>
 #include <boost/iostreams/copy.hpp>
 #include <boost/iostreams/filter/gzip.hpp>
 
+#include "gazebo/sdf/sdf.hh"
+#include "gazebo/common/Time.hh"
 #include "gazebo/common/SystemPaths.hh"
 #include "gazebo/common/Console.hh"
 #include "gazebo/common/ModelDatabase.hh"
     // Tell the background thread to grab the models from online.
     this->updateCacheCondition.notify_one();
 
+    // Let the other thread start downloading.
+    common::Time::MSleep(100);
+
     // Wait for the thread to finish.
     boost::mutex::scoped_lock lock(this->updateMutex);
   }
     if (modelXML)
     {
       TiXmlElement *sdfXML = modelXML->FirstChildElement("sdf");
+      TiXmlElement *sdfSearch = sdfXML;
+
+      // Find the SDF element that matches our current SDF version.
+      while (sdfSearch)
+      {
+        if (sdfSearch->Attribute("version") &&
+            std::string(sdfSearch->Attribute("version")) == SDF_VERSION)
+        {
+          sdfXML = sdfSearch;
+          break;
+        }
+
+        sdfSearch = sdfSearch->NextSiblingElement("sdf");
+      }
+
       if (sdfXML)
       {
         result = path + "/" + sdfXML->GetText();

gazebo/common/ModelDatabase.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/MouseEvent.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/PID.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/PID.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Plugin.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Plugin.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/STLLoader.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/STLLoader.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/SingletonT.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Skeleton.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Skeleton.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/SkeletonAnimation.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/SkeletonAnimation.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/SystemPaths.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * Author: Nate Koenig, Jordi Polo
  * Date: 3 May 2008
  */
-#define BOOST_FILESYSTEM_VERSION 2
 
 #include <assert.h>
 #include <dirent.h>
     for (std::list<std::string>::iterator iter = this->modelPaths.begin();
          iter != this->modelPaths.end(); ++iter)
     {
-      path = boost::filesystem::path(*iter);
-      path = boost::filesystem::operator/(path, suffix);
+      path = boost::filesystem::path(*iter) / suffix;
       if (boost::filesystem::exists(path))
         break;
     }

gazebo/common/SystemPaths.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
   }
 }
 #endif
-
-

gazebo/common/Time.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Time.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Timer.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Timer.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Video.cc

 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/common/Video.hh

 /*
- * Copyright 2012 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
 /*
- * Copyright 2011 Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

gazebo/gazebo_core.hh

 /*
- *  Gazebo - Outdoor Multi-Robot Simulator
- *  Copyright (C) 2003
- *     Nate Koenig
+ * Copyright 2012 Open Source Robotics Foundation
  *
- *  This program is free software; you can redistribute it and/or modify
- *  it under the terms of the GNU General Public License as published by
- *  the Free Software Foundation; either version 2 of the License, or
- *  (at your option) any later version.
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
  *
- *  This program is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU General Public License for more details.
+ *     http://www.apache.org/licenses/LICENSE-2.0
  *
- *  You should have received a copy of the GNU General Public License
- *  along with this program; if not, write to the Free Software
- *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
  *
- */
+*/
 #ifndef _GAZEBO_CORE_HH_
 #define _GAZEBO_CORE_HH_
 #include <gazebo/common/common.hh>