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Allow model frames (__model__) to be used as joint parent or child #833

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merged 1 commit into from
Jan 27, 2022
Merged

Allow model frames (__model__) to be used as joint parent or child #833

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8 changes: 6 additions & 2 deletions src/parser.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -2256,7 +2256,10 @@ void checkJointParentChildNames(const sdf::Root *_root, Errors &_errors)
auto joint = _model->JointByIndex(j);

const std::string &parentName = joint->ParentLinkName();
if (parentName != "world" && !_model->LinkNameExists(parentName) &&
const std::string parentLocalName = sdf::SplitName(parentName).second;

if (parentName != "world" && parentLocalName != "__model__" &&
!_model->LinkNameExists(parentName) &&
!_model->JointNameExists(parentName) &&
!_model->FrameNameExists(parentName))
{
Expand All @@ -2267,14 +2270,15 @@ void checkJointParentChildNames(const sdf::Root *_root, Errors &_errors)
}

const std::string &childName = joint->ChildLinkName();
const std::string childLocalName = sdf::SplitName(childName).second;
if (childName == "world")
{
errors.push_back({ErrorCode::JOINT_CHILD_LINK_INVALID,
"invalid child name[world] specified by joint with name[" +
joint->Name() + "] in model with name[" + _model->Name() + "]."});
}

if (!_model->LinkNameExists(childName) &&
if (childLocalName != "__model__" && !_model->LinkNameExists(childName) &&
!_model->JointNameExists(childName) &&
!_model->FrameNameExists(childName) &&
!_model->ModelNameExists(childName))
Expand Down
96 changes: 96 additions & 0 deletions test/integration/joint_dom.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -230,6 +230,70 @@ TEST(DOMJoint, LoadInvalidJointChildWorld)
"not found in model with name[joint_child_world]"));
}

/////////////////////////////////////////////////
TEST(DOMJoint, LoadJointParentModelFrame)
{
const std::string testFile =
sdf::testing::TestFile("sdf", "joint_parent_model_frame.sdf");

// Load the SDF file
sdf::Root root;
sdf::Errors errors = root.Load(testFile);
EXPECT_TRUE(errors.empty()) << errors;

// Get the first model
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_EQ("joint_parent_model_frame", model->Name());
EXPECT_EQ(2u, model->LinkCount());

EXPECT_EQ(1u, model->JointCount());
auto *joint = model->JointByName("joint");
ASSERT_NE(nullptr, joint);
EXPECT_EQ("child_link", model->JointByName("joint")->ChildLinkName());
EXPECT_EQ("__model__", model->JointByName("joint")->ParentLinkName());
std::string resolvedLinkName;
EXPECT_TRUE(joint->ResolveParentLink(resolvedLinkName).empty());
EXPECT_EQ("base_link", resolvedLinkName);

ignition::math::Pose3d pose;
EXPECT_TRUE(
joint->SemanticPose().Resolve(pose, "__model__").empty());
EXPECT_EQ(ignition::math::Pose3d(1, 0, 0, 0, 0, 0), pose);
}

/////////////////////////////////////////////////
TEST(DOMJoint, LoadJointChildModelFrame)
{
const std::string testFile =
sdf::testing::TestFile("sdf", "joint_child_model_frame.sdf");

// Load the SDF file
sdf::Root root;
sdf::Errors errors = root.Load(testFile);
EXPECT_TRUE(errors.empty()) << errors;

// Get the first model
const sdf::Model *model = root.Model();
ASSERT_NE(nullptr, model);
EXPECT_EQ("joint_child_model_frame", model->Name());
EXPECT_EQ(2u, model->LinkCount());

EXPECT_EQ(1u, model->JointCount());
auto *joint = model->JointByName("joint");
ASSERT_NE(nullptr, joint);
EXPECT_EQ("__model__", model->JointByName("joint")->ChildLinkName());
EXPECT_EQ("parent_link", model->JointByName("joint")->ParentLinkName());
std::string resolvedLinkName;
EXPECT_TRUE(joint->ResolveChildLink(resolvedLinkName).empty());
EXPECT_EQ("base_link", resolvedLinkName);

ignition::math::Pose3d pose;
EXPECT_TRUE(
joint->SemanticPose().Resolve(pose, "__model__").empty());
EXPECT_EQ(ignition::math::Pose3d(0, 0, 0, 0, 0, 0), pose);
}

/////////////////////////////////////////////////
TEST(DOMJoint, LoadJointParentFrame)
{
Expand Down Expand Up @@ -857,6 +921,38 @@ TEST(DOMJoint, LoadJointNestedParentChild)
EXPECT_TRUE(j5->SemanticPose().Resolve(pose, "__model__").empty());
EXPECT_EQ(Pose(0, -1, 1, IGN_PI_2, 0, 0), pose);
}
{
const sdf::Joint *j6 = model->JointByName("J6");
ASSERT_NE(nullptr, j6);
EXPECT_EQ("M1::__model__", j6->ParentLinkName());
EXPECT_EQ("L1", j6->ChildLinkName());

std::string resolvedLinkName;
EXPECT_TRUE(j6->ResolveParentLink(resolvedLinkName).empty());
EXPECT_EQ("M1::L1", resolvedLinkName);
EXPECT_TRUE(j6->ResolveChildLink(resolvedLinkName).empty());
EXPECT_EQ("L1", resolvedLinkName);

Pose pose;
EXPECT_TRUE(j6->SemanticPose().Resolve(pose, "__model__").empty());
EXPECT_EQ(Pose(1, 0, 10, 0, IGN_PI_2, 0), pose);
}
{
const sdf::Joint *j7 = model->JointByName("J7");
ASSERT_NE(nullptr, j7);
EXPECT_EQ("L1", j7->ParentLinkName());
EXPECT_EQ("M1::__model__", j7->ChildLinkName());

std::string resolvedLinkName;
EXPECT_TRUE(j7->ResolveParentLink(resolvedLinkName).empty());
EXPECT_EQ("L1", resolvedLinkName);
EXPECT_TRUE(j7->ResolveChildLink(resolvedLinkName).empty());
EXPECT_EQ("M1::L1", resolvedLinkName);

Pose pose;
EXPECT_TRUE(j7->SemanticPose().Resolve(pose, "__model__").empty());
EXPECT_EQ(Pose(0, 0, 1, 0, 0, 0), pose);
}
}


Expand Down
17 changes: 17 additions & 0 deletions test/sdf/joint_child_model_frame.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
<?xml version="1.0" ?>
<sdf version="1.8">
<model name="joint_child_model_frame">
<link name="base_link">
<pose>0 0 1 0 0 0</pose>
</link>

<link name="parent_link">
<pose>1 0 0 0 0 0</pose>
</link>

<joint name="joint" type="fixed">
<parent>parent_link</parent>
<child>__model__</child>
</joint>
</model>
</sdf>
14 changes: 14 additions & 0 deletions test/sdf/joint_nested_parent_child.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -57,5 +57,19 @@
<parent>L1</parent>
<child>M1::M2</child>
</joint>

<!-- Joint with a nested model frame as a parent -->
<joint name="J6" type="fixed">
<pose>0 0 1 0 0 0</pose>
<parent>M1::__model__</parent>
<child>L1</child>
</joint>

<!-- Joint with a nested model frame as a child -->
<joint name="J7" type="fixed">
<pose>0 0 1 0 0 0</pose>
<parent>L1</parent>
<child>M1::__model__</child>
</joint>
</model>
</sdf>
17 changes: 17 additions & 0 deletions test/sdf/joint_parent_model_frame.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
<?xml version="1.0" ?>
<sdf version="1.8">
<model name="joint_parent_model_frame">
<link name="base_link">
<pose>0 0 1 0 0 0</pose>
</link>

<link name="child_link">
<pose>1 0 0 0 0 0</pose>
</link>

<joint name="joint" type="fixed">
<parent>__model__</parent>
<child>child_link</child>
</joint>
</model>
</sdf>