Added Root::Clone function #843
Conversation
Signed-off-by: Nate Koenig <[email protected]>
Signed-off-by: Nate Koenig <[email protected]>
src/Root.cc
Outdated
|
|
||
| this->dataPtr->worldFrameAttachedToGraphs = | ||
| _root.dataPtr->worldFrameAttachedToGraphs ; | ||
|
|
||
| this->dataPtr->modelFrameAttachedToGraph = | ||
| _root.dataPtr->modelFrameAttachedToGraph ; | ||
|
|
||
| this->dataPtr->worldPoseRelativeToGraphs = | ||
| _root.dataPtr->worldPoseRelativeToGraphs; | ||
|
|
||
| this->dataPtr->modelPoseRelativeToGraph = | ||
| _root.dataPtr->modelPoseRelativeToGraph; |
There was a problem hiding this comment.
The ScopedGraph holds a pointer to heap allocated data. Simply assigning the values here will have both Root objects pointing to the same data, which is probably not what we want, especially when we're adding mutation capabilities.
There was a problem hiding this comment.
I removed these copies, and replaced with a Root::UpdateGraphs function in 9c16a72.
Signed-off-by: Nate Koenig <[email protected]>
Codecov Report
@@ Coverage Diff @@
## sdf12 #843 +/- ##
==========================================
+ Coverage 90.76% 90.78% +0.01%
==========================================
Files 78 78
Lines 12535 12555 +20
==========================================
+ Hits 11378 11398 +20
Misses 1157 1157
Continue to review full report at Codecov.
|
|
I'm combining this PR with #841 due to testing overlap |
Signed-off-by: Nate Koenig [email protected]
🎉 New feature
Summary
Adds a
Root::Clonefunction so that onesdf::Rootcan copy anothersdf::RootThis is just a Fortress fix. Here is a fix for Garden: #844
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.