Cherry-pick support for nested canonical links to sdf10 #350
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Allow models without links if they have nested models instead. When building FrameAttachedToGraph, if model has no links choose the first link of the first nested model as canonical link instead. A new private function `Model::CanonicalLinkAndRelativeName` is added that provides a `Link*` pointer to the canonical link and its nested name relative to the current model, which is needed in the FrameAttachedToGraph. This private prevents duplicate code in `FrameSemantics.cc` and `Model::CanonicalLink`. The method is private to hide :: syntax from libsdformat9, at least until there is a compelling reason to make the API public. A helper function is added to FrameSemantics.cc as a friend of Model so that buildFrameAttachedToGraph can call the private API. That function can't be added directly as a friend since it uses a `FrameAttachedToGraph&` as an argument, which isn't defined in Model.hh. Signed-off-by: Steve Peters <[email protected]>
Codecov Report
@@ Coverage Diff @@
## sdf10 #350 +/- ##
==========================================
+ Coverage 87.32% 87.35% +0.03%
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Files 60 60
Lines 9185 9207 +22
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+ Hits 8021 8043 +22
Misses 1164 1164
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Cherry-pick #341 to sdf10; use rebase and merge.
Support implicit nested canonical links (#341)
Allow models without links if they have nested models instead.
When building FrameAttachedToGraph, if model has no links
choose the first link of the first nested model as canonical
link instead.
A new private function
Model::CanonicalLinkAndRelativeNameis added that provides a
Link*pointer to the canonical link and itsnested name relative to the current model, which is needed
in the FrameAttachedToGraph. This private prevents
duplicate code in
FrameSemantics.ccandModel::CanonicalLink.The method is private to hide :: syntax from libsdformat9,
at least until there is a compelling reason to make the API
public.
A helper function is added to FrameSemantics.cc as a friend
of Model so that buildFrameAttachedToGraph can call the
private API. That function can't be added directly
as a friend since it uses a
FrameAttachedToGraph&as an argument, which isn't defined in Model.hh.
Signed-off-by: Steve Peters [email protected]