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Make sdf::Model::CanonicalLinkAndRelativeName public #426

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merged 2 commits into from
Dec 3, 2020
Merged

Make sdf::Model::CanonicalLinkAndRelativeName public #426

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a7f9108
Make sdf::Model::CanonicalLinkAndRelativeName public
azeey Dec 1, 2020
031ffbb
Update migration guide
azeey Dec 2, 2020
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3 changes: 3 additions & 0 deletions Migration.md
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,9 @@ but with improved human-readability..
+ Errors ResolveChildLink(std::string&) const
+ Errors ResolveParentLink(std::string&) const

1. **sdf/Model.hh**:
+ std::pair<const Link *, std::string> CanonicalLinkAndRelativeName() const;

### Modifications

1. **sdf/Model.hh**: the following methods now accept nested names relative to
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19 changes: 7 additions & 12 deletions include/sdf/Model.hh
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Expand Up @@ -314,6 +314,13 @@ namespace sdf
/// \param[in] _name Name of the placement frame.
public: void SetPlacementFrameName(const std::string &_name);

/// \brief Get the model's canonical link and the nested name of the link
/// relative to the current model, delimited by "::".
/// \return An immutable pointer to the canonical link and the nested
/// name of the link relative to the current model.
public: std::pair<const Link *, std::string> CanonicalLinkAndRelativeName()
const;

/// \brief Give the scoped PoseRelativeToGraph to be used for resolving
/// poses. This is private and is intended to be called by Root::Load or
/// World::SetPoseRelativeToGraph if this is a standalone model and
Expand All @@ -330,24 +337,12 @@ namespace sdf
private: void SetFrameAttachedToGraph(
sdf::ScopedGraph<FrameAttachedToGraph> _graph);

/// \brief Get the model's canonical link and the nested name of the link
/// relative to the current model, delimited by "::".
/// \return An immutable pointer to the canonical link and the nested
/// name of the link relative to the current model.
private: std::pair<const Link *, std::string> CanonicalLinkAndRelativeName()
const;

/// \brief Allow Root::Load, World::SetPoseRelativeToGraph, or
/// World::SetFrameAttachedToGraph to call SetPoseRelativeToGraph and
/// SetFrameAttachedToGraph
friend class Root;
friend class World;

/// \brief Allow helper function in FrameSemantics.cc to call
/// CanonicalLinkAndRelativeName.
friend std::pair<const Link *, std::string>
modelCanonicalLinkAndRelativeName(const Model *);

/// \brief Private data pointer.
private: ModelPrivate *dataPtr = nullptr;
};
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