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Support explicitly specified nested canonical links using :: syntax #355

Merged
merged 2 commits into from
Oct 30, 2020
Merged

Support explicitly specified nested canonical links using :: syntax #355

merged 2 commits into from
Oct 30, 2020

Commits on Oct 30, 2020

  1. Prefix nested model names when flattening (gazebosim#399) 

    Currently the addNestedModel function in parser.cc prefixes
link, joint, and frame names with the flattened model name
delimited by "::". This applies the same prefix to the names
of nested models within the flattened model as well.

Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Oct 30, 2020
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  2. Explicitly nested canonical links with :: (gazebosim#355) 

    This extends the `Model::*NameExists` and `Model::*ByName` APIs
(like LinkNameExists and LinkByName) that allow passing
nested names that can begin with a sequence of nested model
names separated by :: and may end with the name of an object
of the specified type, such as "outer_model::inner_model::inner_joint".

For now, if a nested model is not found that matches the nested name
preceding the final ::, then it checks for objects in the current model
that match the entire name. This extra check should be disabled
when "::" is reserved and not allowed in frame names.

Add test showing that Model::ModelByName and Model::ModelNameExists
have trouble with model names that contain "::" with TODO
comments to remind that they should be fixed.

* README: note master is unstable development branch

Split nested_invalid_explicit_canonical_link.sdf
into nested_explicit_canonical_link.sdf and
nested_without_links_invalid.sdf and update tests
to expect that nested_explicit_canonical_link.sdf is valid.

Part of gazebosim#342.

Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Oct 30, 2020
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