Stop using canonicalize_graph! in MechanismState ctor (and write_urdf). #525
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Codecov Report
@@ Coverage Diff @@
## master #525 +/- ##
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+ Coverage 99.53% 99.53% +<.01%
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Files 42 42
Lines 2787 2795 +8
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+ Hits 2774 2782 +8
Misses 13 13
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Using canocalize_graph! in the MechanismState constructor was necessary because removing a tree joint can make it so that the indices of the tree joints are no longer ordered and contiguous. However, it made it so that constructing MechanismStates was not thread-safe. In addition, it was perhaps an unexpected (although mostly harmless) behavior to have the Mechanism be modified in any way upon MechanismState construction or in write_urdf. Instead, canonicalize the graph in remove_joint! and remove_fixed_tree_joints!.
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Using
canonicalize_graph!in theMechanismStateconstructor was necessarybecause removing a tree joint can make it so that the indices of the
tree joints are no longer ordered and contiguous. However, it made it so
that constructing
MechanismStates was not thread-safe. In addition, itwas perhaps an unexpected (although harmless) behavior to have
the
Mechanismbe modified in any way uponMechanismStateconstruction orin
write_urdf.Instead, just canonicalize the graph in
remove_joint!andremove_fixed_tree_joints!.This is covered by the
reattachtest set.Also some random minor changes in related code that I should have separate out, but OK.