Use new Joint APIs for Parent/Child name (#1548)

Follow-up to gazebosim/sdformat#1053. Signed-off-by: Steve Peters <[email protected]>
gazebosim · Jun 21, 2022 · 136c840 · 136c840
1 parent 171e486
commit 136c840
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Showing 8 changed files with 26 additions and 26 deletions.
diff --git a/src/SdfEntityCreator.cc b/src/SdfEntityCreator.cc
@@ -658,7 +658,7 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Joint *_joint,
   std::string resolvedParentLinkName;
   if (_resolved)
   {
-    resolvedParentLinkName = _joint->ParentLinkName();
+    resolvedParentLinkName = _joint->ParentName();
   }
   else
   {
@@ -668,7 +668,7 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Joint *_joint,
     if (!resolveParentErrors.empty())
     {
       gzerr << "Failed to resolve parent link for joint '" << _joint->Name()
-             << "' with parent name '" << _joint->ParentLinkName() << "'"
+             << "' with parent name '" << _joint->ParentName() << "'"
              << std::endl;
       for (const auto &error : resolveParentErrors)
       {
@@ -684,7 +684,7 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Joint *_joint,
   std::string resolvedChildLinkName;
   if (_resolved)
   {
-    resolvedChildLinkName = _joint->ChildLinkName();
+    resolvedChildLinkName = _joint->ChildName();
   }
   else
   {
@@ -693,7 +693,7 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Joint *_joint,
     if (!resolveChildErrors.empty())
     {
       gzerr << "Failed to resolve child link for joint '" << _joint->Name()
-             << "' with child name '" << _joint->ChildLinkName() << "'"
+             << "' with child name '" << _joint->ChildName() << "'"
              << std::endl;
       for (const auto &error : resolveChildErrors)
       {

diff --git a/src/SdfEntityCreator_TEST.cc b/src/SdfEntityCreator_TEST.cc
@@ -1031,8 +1031,8 @@ TEST_F(SdfEntityCreatorTest, CreateJointEntities)
     if (_checkAxis2)
       testAxis(_joint->Name(), _joint->Axis(1), _axis2);
 
-    EXPECT_EQ(_joint->ParentLinkName(), _parentLinkName->Data());
-    EXPECT_EQ(_joint->ChildLinkName(), _childLinkName->Data());
+    EXPECT_EQ(_joint->ParentName(), _parentLinkName->Data());
+    EXPECT_EQ(_joint->ChildName(), _childLinkName->Data());
     EXPECT_EQ(_joint->Name(), _name->Data());
   };
 

diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc
@@ -994,8 +994,8 @@ TEST_P(SimulationRunnerTest, CreateJointEntities)
     if (_checkAxis2)
       testAxis(_joint->Name(), _joint->Axis(1), _axis2);
 
-    EXPECT_EQ(_joint->ParentLinkName(), _parentLinkName->Data());
-    EXPECT_EQ(_joint->ChildLinkName(), _childLinkName->Data());
+    EXPECT_EQ(_joint->ParentName(), _parentLinkName->Data());
+    EXPECT_EQ(_joint->ChildName(), _childLinkName->Data());
     EXPECT_EQ(_joint->Name(), _name->Data());
   };
 

diff --git a/src/gui/plugins/component_inspector_editor/ModelEditor.cc b/src/gui/plugins/component_inspector_editor/ModelEditor.cc
@@ -506,8 +506,8 @@ std::optional<sdf::Joint> ModelEditorPrivate::CreateJoint(
     return std::nullopt;
   }
 
-  joint.SetParentLinkName(_eta.data.at("parent_link"));
-  joint.SetChildLinkName(_eta.data.at("child_link"));
+  joint.SetParentName(_eta.data.at("parent_link"));
+  joint.SetChildName(_eta.data.at("child_link"));
 
   std::string jointName = "joint";
   Entity jointEnt = _ecm.EntityByComponents(

diff --git a/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc b/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc
@@ -656,12 +656,12 @@ void VisualizationCapabilitiesPrivate::OnRender()
             !this->viewingInertias[jointEntity])
         {
           std::string childLinkName =
-              this->entityJoints[jointEntity].ChildLinkName();
+              this->entityJoints[jointEntity].ChildName();
           Entity childId =
               this->matchLinksWithEntities[model][childLinkName];
 
           std::string parentLinkName =
-              this->entityJoints[jointEntity].ParentLinkName();
+              this->entityJoints[jointEntity].ParentName();
           Entity parentId =
               this->matchLinksWithEntities[model][parentLinkName];
 
@@ -2547,8 +2547,8 @@ void VisualizationCapabilities::Update(const UpdateInfo &,
           joint.SetType(_jointType->Data());
           joint.SetRawPose(_pose->Data());
 
-          joint.SetParentLinkName(_parentLinkName->Data());
-          joint.SetChildLinkName(_childLinkName->Data());
+          joint.SetParentName(_parentLinkName->Data());
+          joint.SetChildName(_childLinkName->Data());
 
           auto jointAxis = _ecm.Component<components::JointAxis>(_entity);
           auto jointAxis2 = _ecm.Component<components::JointAxis2>(_entity);
@@ -2708,8 +2708,8 @@ void VisualizationCapabilities::Update(const UpdateInfo &,
           joint.SetType(_jointType->Data());
           joint.SetRawPose(_pose->Data());
 
-          joint.SetParentLinkName(_parentLinkName->Data());
-          joint.SetChildLinkName(_childLinkName->Data());
+          joint.SetParentName(_parentLinkName->Data());
+          joint.SetChildName(_childLinkName->Data());
 
           auto jointAxis = _ecm.Component<components::JointAxis>(_entity);
           auto jointAxis2 = _ecm.Component<components::JointAxis2>(_entity);

diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
@@ -1426,12 +1426,12 @@ void RenderUtil::Update()
         if (!this->dataPtr->sceneManager.HasEntity(jointEntity))
         {
           std::string childLinkName =
-              this->dataPtr->entityJoints[jointEntity].ChildLinkName();
+              this->dataPtr->entityJoints[jointEntity].ChildName();
           Entity childId =
               this->dataPtr->matchLinksWithEntities[model][childLinkName];
 
           std::string parentLinkName =
-              this->dataPtr->entityJoints[jointEntity].ParentLinkName();
+              this->dataPtr->entityJoints[jointEntity].ParentName();
           Entity parentId =
               this->dataPtr->matchLinksWithEntities[model][parentLinkName];
 
@@ -1789,8 +1789,8 @@ void RenderUtilPrivate::CreateEntitiesFirstUpdate(
         joint.SetType(_jointType->Data());
         joint.SetRawPose(_pose->Data());
 
-        joint.SetParentLinkName(_parentLinkName->Data());
-        joint.SetChildLinkName(_childLinkName->Data());
+        joint.SetParentName(_parentLinkName->Data());
+        joint.SetChildName(_childLinkName->Data());
 
         auto jointAxis = _ecm.Component<components::JointAxis>(_entity);
         auto jointAxis2 = _ecm.Component<components::JointAxis2>(_entity);
@@ -2055,8 +2055,8 @@ void RenderUtilPrivate::CreateEntitiesRuntime(
         joint.SetType(_jointType->Data());
         joint.SetRawPose(_pose->Data());
 
-        joint.SetParentLinkName(_parentLinkName->Data());
-        joint.SetChildLinkName(_childLinkName->Data());
+        joint.SetParentName(_parentLinkName->Data());
+        joint.SetChildName(_childLinkName->Data());
 
         auto jointAxis = _ecm.Component<components::JointAxis>(_entity);
         auto jointAxis2 = _ecm.Component<components::JointAxis2>(_entity);

diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc
@@ -1575,8 +1575,8 @@ void PhysicsPrivate::CreateJointEntities(const EntityComponentManager &_ecm,
         joint.SetRawPose(_pose->Data());
         joint.SetThreadPitch(_threadPitch->Data());
 
-        joint.SetParentLinkName(_parentLinkName->Data());
-        joint.SetChildLinkName(_childLinkName->Data());
+        joint.SetParentName(_parentLinkName->Data());
+        joint.SetChildName(_childLinkName->Data());
 
         auto jointAxis = _ecm.Component<components::JointAxis>(_entity);
         auto jointAxis2 = _ecm.Component<components::JointAxis2>(_entity);

diff --git a/test/integration/save_world.cc b/test/integration/save_world.cc
@@ -887,8 +887,8 @@ TEST_F(SdfGeneratorFixture, ModelWithJoints)
   auto *joint = model->JointByName("joint");
   ASSERT_NE(nullptr, joint);
 
-  EXPECT_EQ("link1", joint->ParentLinkName());
-  EXPECT_EQ("link2", joint->ChildLinkName());
+  EXPECT_EQ("link1", joint->ParentName());
+  EXPECT_EQ("link2", joint->ChildName());
   EXPECT_EQ(sdf::JointType::REVOLUTE2, joint->Type());
 
   // Get the first axis