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Fix RobotState::getRigidlyConnectedParentLinkModel() (backport #2985) #2993

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merged 3 commits into from
Sep 9, 2024
Merged

Fix RobotState::getRigidlyConnectedParentLinkModel() (backport #2985) #2993

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a151491
Fix RobotState::getRigidlyConnectedParentLinkModel() (#2985)
rhaschke Sep 4, 2024
5a747f5
Fix mergify attempt
rhaschke Sep 5, 2024
bdb6b70
Fix failing test
rhaschke Sep 5, 2024
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25 changes: 5 additions & 20 deletions moveit_core/robot_state/src/robot_state.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -801,26 +801,11 @@ void RobotState::updateStateWithLinkAt(const LinkModel* link, const Eigen::Isome

const LinkModel* RobotState::getRigidlyConnectedParentLinkModel(const std::string& frame) const
{
const moveit::core::LinkModel* link{ nullptr };

size_t idx = 0;
if ((idx = frame.find('/')) != std::string::npos)
{ // resolve sub frame
std::string object{ frame.substr(0, idx) };
if (!hasAttachedBody(object))
return nullptr;
auto body{ getAttachedBody(object) };
if (!body->hasSubframeTransform(frame))
return nullptr;
link = body->getAttachedLink();
}
else if (hasAttachedBody(frame))
{
link = getAttachedBody(frame)->getAttachedLink();
}
else if (getRobotModel()->hasLinkModel(frame))
link = getLinkModel(frame);

bool found;
const LinkModel* link{ nullptr };
getFrameInfo(frame, link, found);
if (!found)
RCLCPP_ERROR(LOGGER, "Unable to find link for frame '%s'", frame.c_str());
return getRobotModel()->getRigidlyConnectedParentLinkModel(link);
}

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1 change: 1 addition & 0 deletions moveit_core/robot_state/test/robot_state_test.cpp
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Expand Up @@ -691,6 +691,7 @@ TEST_F(OneRobot, rigidlyConnectedParent)
EXPECT_EQ(robot_model_->getRigidlyConnectedParentLinkModel(link_b), link_a);

moveit::core::RobotState state(robot_model_);
state.updateLinkTransforms();

EXPECT_EQ(state.getRigidlyConnectedParentLinkModel("link_b"), link_a);

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