Adding the joint type to the properties shown

Signed-off-by: Marcos Wagner <[email protected]>
gazebosim · Jul 1, 2021 · bc3d437 · bc3d437
1 parent f4a3b07
commit bc3d437
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Showing 2 changed files with 24 additions and 1 deletion.
diff --git a/model/src/ModelCommandAPI_TEST.cc b/model/src/ModelCommandAPI_TEST.cc
@@ -163,16 +163,19 @@ TEST(ModelCommandAPI, Commands)
       "  - Joint [21]\n"
       "    - Name: left_wheel_joint\n"
       "    - Parent: vehicle_blue [8]\n"
+      "    - Joint type:  revolute\n"
       "    - Parent Link: [left_wheel]\n"
       "    - Child Link:  [chassis]\n"
       "  - Joint [22]\n"
       "    - Name: right_wheel_joint\n"
       "    - Parent: vehicle_blue [8]\n"
+      "    - Joint type:  revolute\n"
       "    - Parent Link: [right_wheel]\n"
       "    - Child Link:  [chassis]\n"
       "  - Joint [23]\n"
       "    - Name: caster_wheel\n"
       "    - Parent: vehicle_blue [8]\n"
+      "    - Joint type:  ball\n"
       "    - Parent Link: [caster]\n"
       "    - Child Link:  [chassis]\n";
     EXPECT_EQ(expectedOutput, non_neg_zero_output);
@@ -285,16 +288,19 @@ TEST(ModelCommandAPI, Commands)
       "  - Joint [21]\n"
       "    - Name: left_wheel_joint\n"
       "    - Parent: vehicle_blue [8]\n"
+      "    - Joint type:  revolute\n"
       "    - Parent Link: [left_wheel]\n"
       "    - Child Link:  [chassis]\n"
       "  - Joint [22]\n"
       "    - Name: right_wheel_joint\n"
       "    - Parent: vehicle_blue [8]\n"
+      "    - Joint type:  revolute\n"
       "    - Parent Link: [right_wheel]\n"
       "    - Child Link:  [chassis]\n"
       "  - Joint [23]\n"
       "    - Name: caster_wheel\n"
       "    - Parent: vehicle_blue [8]\n"
+      "    - Joint type:  ball\n"
       "    - Parent Link: [caster]\n"
       "    - Child Link:  [chassis]\n";
     EXPECT_EQ(expectedOutput, non_neg_zero_output);
@@ -312,6 +318,7 @@ TEST(ModelCommandAPI, Commands)
       "  - Joint [23]\n"
       "    - Name: caster_wheel\n"
       "    - Parent: vehicle_blue [8]\n"
+      "    - Joint type:  ball\n"
       "    - Parent Link: [caster]\n"
       "    - Child Link:  [chassis]\n";
     EXPECT_EQ(expectedOutput, non_neg_zero_output);

diff --git a/model/src/cmd/ModelCommandAPI.cc b/model/src/cmd/ModelCommandAPI.cc
@@ -19,6 +19,7 @@
 
 #include <string>
 #include <vector>
+#include <map>
 
 #include <ignition/common/Console.hh>
 #include <ignition/common/Filesystem.hh>
@@ -279,14 +280,29 @@ void printJoints(uint64_t entity,
     }
     {
 
+      std::map<sdf::JointType, std::string> jointTypes = {
+        {sdf::JointType::REVOLUTE, "revolute"},
+        {sdf::JointType::BALL, "ball"},
+        {sdf::JointType::CONTINUOUS, "continuous"},
+        {sdf::JointType::FIXED, "fixed"},
+        {sdf::JointType::GEARBOX, "gearbox"},
+        {sdf::JointType::PRISMATIC,  "prismatic"},
+        {sdf::JointType::REVOLUTE2, "revolute2"},
+        {sdf::JointType::SCREW, "screw"},
+        {sdf::JointType::UNIVERSAL, "universal"}
+      };
+
+      auto jointComp =
+          ecm.Component<ignition::gazebo::components::JointType>(_entity);
       auto childLinkComp =
           ecm.Component<ignition::gazebo::components::ChildLinkName>(_entity);
       auto parentLinkComp =
           ecm.Component<ignition::gazebo::components::ParentLinkName>(_entity);
 
       if (childLinkComp && parentLinkComp)
       {
-        std::cout << "    - Parent Link: [" << childLinkComp->Data() << "]\n"
+        std::cout << "    - Joint type:  " << jointTypes[jointComp->Data()] << "\n"
+                  << "    - Parent Link: [" << childLinkComp->Data() << "]\n"
                   << "    - Child Link:  [" << parentLinkComp->Data() << "]\n";
       }
     }