Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Use new Joint APIs for Parent/Child name #361

Merged
merged 2 commits into from
Jun 21, 2022
Merged

Use new Joint APIs for Parent/Child name #361

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
cbc943c
Use new Joint APIs for Parent/Child name
scpeters Jun 20, 2022
433a4d6
Merge branch 'main' into scpeters/rename_joint_apis
scpeters Jun 21, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions bullet/src/SDFFeatures.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -127,10 +127,10 @@ Identity SDFFeatures::ConstructSdfModel(
}

const std::size_t parent = this->FindOrConstructLink(
modelIdentity, _sdfModel, sdfJoint->ParentLinkName());
modelIdentity, _sdfModel, sdfJoint->ParentName());

const std::size_t child = this->FindOrConstructLink(
modelIdentity, _sdfModel, sdfJoint->ChildLinkName());
modelIdentity, _sdfModel, sdfJoint->ChildName());

this->ConstructSdfJoint(modelIdentity, *sdfJoint, parent, child);
}
Expand Down Expand Up @@ -329,11 +329,11 @@ Identity SDFFeatures::ConstructSdfJoint(
const ::sdf::Model dummyEmptyModel;

// Get the parent and child ids
const std::string parentLinkName = _sdfJoint.ParentLinkName();
const std::string parentLinkName = _sdfJoint.ParentName();
std::size_t parentId =
this->FindOrConstructLink(_modelID, dummyEmptyModel, parentLinkName);

const std::string childLinkName = _sdfJoint.ChildLinkName();
const std::string childLinkName = _sdfJoint.ChildName();
std::size_t childId =
this->FindOrConstructLink(_modelID, dummyEmptyModel, childLinkName);

Expand Down
8 changes: 4 additions & 4 deletions bullet/src/SDFFeatures_TEST.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -78,22 +78,22 @@ auto CreateTestModel(WorldPtr _world, const std::string &_model,
{
auto parent = model->ConstructLink(*_parentLink);
EXPECT_NE(nullptr, parent);
sdfJoint.SetParentLinkName(_parentLink->Name());
sdfJoint.SetParentName(_parentLink->Name());
}
else
{
sdfJoint.SetParentLinkName("world");
sdfJoint.SetParentName("world");
}

if (_childLink)
{
auto child = model->ConstructLink(*_childLink);
EXPECT_NE(nullptr, child);
sdfJoint.SetChildLinkName(_childLink->Name());
sdfJoint.SetChildName(_childLink->Name());
}
else
{
sdfJoint.SetChildLinkName("world");
sdfJoint.SetChildName("world");
}

auto joint0 = model->ConstructJoint(sdfJoint);
Expand Down
32 changes: 16 additions & 16 deletions dartsim/src/SDFFeatures.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -507,7 +507,7 @@ Identity SDFFeatures::ConstructSdfModelImpl(
::sdf::Errors errors = sdfJoint->ResolveParentLink(parentLinkName);
if (!errors.empty())
{
gzerr << "The link of the parent frame [" << sdfJoint->ParentLinkName()
gzerr << "The link of the parent frame [" << sdfJoint->ParentName()
<< "] of joint [" << sdfJoint->Name() << "] in model ["
<< modelName
<< "] could not be resolved. The joint will not be constructed\n";
Expand All @@ -521,7 +521,7 @@ Identity SDFFeatures::ConstructSdfModelImpl(
errors = sdfJoint->ResolveChildLink(childLinkName);
if (!errors.empty())
{
gzerr << "The link of the child frame [" << sdfJoint->ChildLinkName()
gzerr << "The link of the child frame [" << sdfJoint->ChildName()
<< "] of joint [" << sdfJoint->Name() << "] in model ["
<< modelName
<< "] could not be resolved. The joint will not be constructed\n";
Expand All @@ -536,7 +536,7 @@ Identity SDFFeatures::ConstructSdfModelImpl(
if (nullptr == parentSdfLink && parentLinkName != "world")
{
gzerr << "The link [" << parentLinkName << "] of the parent frame ["
<< sdfJoint->ParentLinkName() << "] of joint [" << sdfJoint->Name()
<< sdfJoint->ParentName() << "] of joint [" << sdfJoint->Name()
<< "] in model [" << modelName
<< "] could not be resolved. The joint will not be constructed\n";
continue;
Expand All @@ -546,7 +546,7 @@ Identity SDFFeatures::ConstructSdfModelImpl(
if (nullptr == childSdfLink)
{
gzerr << "The link [" << childLinkName << "] of the child frame ["
<< sdfJoint->ChildLinkName() << "] of joint [" << sdfJoint->Name()
<< sdfJoint->ChildName() << "] of joint [" << sdfJoint->Name()
<< "] in model [" << modelName
<< "] could not be resolved. The joint will not be constructed\n";
continue;
Expand All @@ -557,7 +557,7 @@ Identity SDFFeatures::ConstructSdfModelImpl(

if (nullptr == parent && parentLinkName != "world")
{
gzerr << "The parent [" << sdfJoint->ParentLinkName() << "] of joint ["
gzerr << "The parent [" << sdfJoint->ParentName() << "] of joint ["
<< sdfJoint->Name() << "] in model [" << modelName
<< "] was not found. The joint will not be constructed\n";
continue;
Expand Down Expand Up @@ -684,7 +684,7 @@ Identity SDFFeatures::ConstructSdfJoint(
{
const auto &modelInfo = *this->ReferenceInterface<ModelInfo>(_modelID);

if (_sdfJoint.ChildLinkName() == "world")
if (_sdfJoint.ChildName() == "world")
{
gzerr << "Asked to create a joint with the world as the child in model "
<< "[" << modelInfo.model->getName() << "]. This is currently not "
Expand All @@ -707,7 +707,7 @@ Identity SDFFeatures::ConstructSdfJoint(
// Since (1) is an error that should be reported and (2) might be a valid use
// case, the solution is, when an error is encountered, we first assume (2)
// and set the parent and child link names to whatever returned from
// sdf::Joint::ParentLinkName() and sdf::Joint::ChildLinkName respectively.
// sdf::Joint::ParentName() and sdf::Joint::ChildName respectively.
// Then we check if a body node with the same relative name exists in DART. If
// the link is nested inside a child model, it will be necessary to split the
// name to identify the correct parent skeleton. If the corresponding body
Expand All @@ -720,9 +720,9 @@ Identity SDFFeatures::ConstructSdfJoint(
const auto resolveParentErrors = _sdfJoint.ResolveParentLink(parentLinkName);
if (!resolveParentErrors.empty()) {
// It's possible this wasn't created from an sdf::Model object, like
// SDFFeatures_TEST.WorldIsParentOrChild. Try using raw ParentLinkName() in
// SDFFeatures_TEST.WorldIsParentOrChild. Try using raw ParentName() in
// that case
parentLinkName = _sdfJoint.ParentLinkName();
parentLinkName = _sdfJoint.ParentName();
}

dart::dynamics::BodyNode * const parent =
Expand All @@ -731,23 +731,23 @@ Identity SDFFeatures::ConstructSdfJoint(
std::string childLinkName;
const auto childResolveErrors = _sdfJoint.ResolveChildLink(childLinkName);
if (!childResolveErrors.empty()) {
childLinkName = _sdfJoint.ChildLinkName();
childLinkName = _sdfJoint.ChildName();
}

dart::dynamics::BodyNode * const child =
FindBodyNode(world->getName(), modelInfo.model->getName(), childLinkName);

if (nullptr == parent && parentLinkName != "world")
{
gzerr << "The link of the parent frame [" << _sdfJoint.ParentLinkName()
gzerr << "The link of the parent frame [" << _sdfJoint.ParentName()
<< "] with resolved link name [" << parentLinkName
<< "] of joint [" << _sdfJoint.Name()
<< "] could not be resolved. The joint will not be constructed\n";
return this->GenerateInvalidId();
}
if (nullptr == child)
{
gzerr << "The link of the child frame [" << _sdfJoint.ChildLinkName()
gzerr << "The link of the child frame [" << _sdfJoint.ChildName()
<< "] with resolved link name [" << childLinkName
<< "] of joint [" << _sdfJoint.Name() << "] in model ["
<< modelInfo.model->getName()
Expand Down Expand Up @@ -978,8 +978,8 @@ Identity SDFFeatures::ConstructSdfJoint(
{
// if a specified link is named "world" but cannot be found, we'll assume the
// joint is connected to the world
bool worldParent = (!_parent && _sdfJoint.ParentLinkName() == "world");
bool worldChild = (!_child && _sdfJoint.ChildLinkName() == "world");
bool worldParent = (!_parent && _sdfJoint.ParentName() == "world");
bool worldChild = (!_child && _sdfJoint.ChildName() == "world");

if (worldChild)
{
Expand All @@ -996,8 +996,8 @@ Identity SDFFeatures::ConstructSdfJoint(
{
{
std::stringstream msg;
msg << "Asked to create a joint from link [" << _sdfJoint.ParentLinkName()
<< "] to link [" << _sdfJoint.ChildLinkName() << "] in the model "
msg << "Asked to create a joint from link [" << _sdfJoint.ParentName()
<< "] to link [" << _sdfJoint.ChildName() << "] in the model "
<< "[" << _modelInfo.model->getName() << "], but ";

if (!_parent && !worldParent)
Expand Down
12 changes: 6 additions & 6 deletions dartsim/src/SDFFeatures_TEST.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -272,8 +272,8 @@ WorldPtr LoadWorldPiecemeal(const std::string &_world)
newSdfJoint.SetRawPose(ResolveSdfPose(sdfJoint->SemanticPose()));
newSdfJoint.SetThreadPitch(sdfJoint->ThreadPitch());

newSdfJoint.SetParentLinkName(resolvedParentLinkName);
newSdfJoint.SetChildLinkName(resolvedChildLinkName);
newSdfJoint.SetParentName(resolvedParentLinkName);
newSdfJoint.SetChildName(resolvedChildLinkName);

physModel->ConstructJoint(newSdfJoint);
}
Expand Down Expand Up @@ -473,22 +473,22 @@ auto CreateTestModel(WorldPtr _world, const std::string &_model,
{
auto parent = model->ConstructLink(*_parentLink);
EXPECT_NE(nullptr, parent);
sdfJoint.SetParentLinkName(_parentLink->Name());
sdfJoint.SetParentName(_parentLink->Name());
}
else
{
sdfJoint.SetParentLinkName("world");
sdfJoint.SetParentName("world");
}

if (_childLink)
{
auto child = model->ConstructLink(*_childLink);
EXPECT_NE(nullptr, child);
sdfJoint.SetChildLinkName(_childLink->Name());
sdfJoint.SetChildName(_childLink->Name());
}
else
{
sdfJoint.SetChildLinkName("world");
sdfJoint.SetChildName("world");
}

auto joint0 = model->ConstructJoint(sdfJoint);
Expand Down