[dartsim] Ensure Link and Model APIs continue to work after joint creation in DART #227
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Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
We do this by keeping track of links separately from DART so that APIs such as `Model::GetLink()` and `Link::GetIndex` are not affected by BodyNode's moving from one skeleton to another when a joint is created between different (nested) models. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
This was referenced Mar 17, 2021
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chapulina
added
DART
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
adlarkin
reviewed
Mar 21, 2021
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Looks pretty good! I left a few minor comments/questions.
Also, it looks like you forgot to include the issue number this PR would close in the description (the description currently says Closes #). @azeey can you add that in?
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
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Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
adlarkin
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Mar 22, 2021
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🎉 New feature
Summary
When a DART joint is created between two BodyNodes in DART, the child body node is moved from its original skeleton to the parent skeleton. This breaks APIs such as
Model::GetLink(std::string),Model::GetLink(std::size_t)andLink::GetIndex(). This PR fixes this by keeping track of links separately from DART.Requires
Test it
Run tests
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge