[tpe] Add empty nested model construction and nested model entity management #229
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Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
We do this by keeping track of links separately from DART so that APIs such as `Model::GetLink()` and `Link::GetIndex` are not affected by BodyNode's moving from one skeleton to another when a joint is created between different (nested) models. Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
…t in TPE Signed-off-by: Addisu Z. Taddese <[email protected]>
chapulina
added
enhancement
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
…ties Signed-off-by: Addisu Z. Taddese <[email protected]>
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The implementation of the feature for dartsim looks fine, but I would urge us to change the implementation for TPE. If we split the children container into separate links and nestedModels containers, then we can replace some dynamic_casting with static_cast and eliminate O(N) complexity counts for finding the element counts.
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
…s into dartsim_nested_entities
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
There was a problem hiding this comment.
Everything looks good to me after the patch that was brought in via e5679df. The updated indexInContainerToId method definitely makes things easier in EntityManagementFeatures. I just left one question I had, as I am trying to still wrapping my mind around some of these physics concepts.
azeey
dismissed
mxgrey’s stale review
I have addressed all the feedback. In the interest of time, I'll dismiss this review so we can merge this. Please feel to give it another look and I'll address any addition feedback in a follow-up PR.
🎉 New feature
This is the same as #228, but for TPE.
Summary
This adds two new features:
ConstructEmptyNestedModelFeature, which allows users to create a nested model without having to useConstructSdfNestedModelGetNestedModelFromModel, which allow retrieving a nested model from it's parentModelentity.Requires:
[dartsim] Fix joint construction errors due to link name duplication or BodyNodes moving to other skeletons #220[dartsim] Ensure Link and Model APIs continue to work after joint creation in DART #227[dartsim] Add empty nested model construction and nested model entity management #228Test it
Run tests
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge