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sdf 1.8: support specifying frames as joint child/parent (#304)
The `//joint/child` and `//joint/parent` elements now accept any valid frame name instead of only link names. Closes #204. * Add sdf test models * parser: update joint check function, add tests * FrameSemantics: joint parent/child as frames buildFrameAttachedToGraph: don't create edges from joint to child until all joint and frame vertices are added, in case the child is not a link. buildPoseRelativeToGraph: if //joint/pose/@relative_to is not specified, don't create edges from joint to child until all joint and frame vertices are added to the graph, in case the child is not a link. * Joint: add ResolveChildLink, ResolveParentLink These methods use the FrameAttachedToGraph to resolve the name of the parent and child links of a joint, similar to Frame::ResolveAttachedToBody. Return early from ResolveParentLink if "world" is specified as a joint's parent frame, since "world" is not in a Model's FrameAttachedToGraph. * Check that resolved parent and child frames differ Add test world in which a joint's child frame resolves to the same value as the parent, which is invalid. Check for this case in `ign sdf --check`. Signed-off-by: Steve Peters <[email protected]>
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