Add World::hasSkeleton()

[jslee02]

World::hasSkeleton takes Skeleton as a shared pointer since Skeleton is enforced to be created as a shared pointer by calling Skeleton::create().

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[mxgrey]

Just a missing const

[mxgrey]

This member function should be const-qualified.

[mxgrey]

Also, if possible, it would be nice to accept a const dynamics::ConstSkeletonPtr&, but I know that sometimes the STL doesn't like to perform comparisons between std::shared_ptr<const T> and std::shared_ptr<T> objects, so maybe it would be more trouble than it's worth.

[jslee02]

Definitely!

[jslee02]

Hm, would it be better to take just a const raw pointer as a workaround? Or having both for SkeletonPtr and ConstSkeletonPtr?

[mxgrey]

The compiler can implicitly cast a SkeletonPtr to a ConstSkeletonPtr, no problem. I'm just not sure off the top of my head if

return std::find(mSkeletons.begin(), mSkeletons.end(), skeleton)
      != mSkeletons.end();

will compile when skeleton is a ConstSkeletonPtr, since the compiler might want to cast skeleton from ConstSkeletonPtr to SkeletonPtr, which is not allowed.

I think if the compiler gives us any trouble with the ConstSkeletonPtr argument, we could use std::find_if and pass in our own unary predicate that casts each entry to a ConstSkeletonPtr before comparing it to skeleton.

[jslee02]

It seems ConstSkeletonPtr works without any troubles in the simple test. Let's merge this as it is and revisit if it turns out this is problematic. 😁

[codecov]

Codecov Report

Merging #1050 into release-6.5 will increase coverage by <.01%.
The diff coverage is 100%.

@@               Coverage Diff               @@
##           release-6.5    #1050      +/-   ##
===============================================
+ Coverage        56.58%   56.59%   +<.01%     
===============================================
  Files              314      314              
  Lines            24312    24315       +3     
===============================================
+ Hits             13758    13761       +3     
  Misses           10554    10554

Impacted Files	Coverage Δ
dart/simulation/World.cpp	72.1% <100%> (+0.3%)	⬆️

[mxgrey]

As long as it's compiling, there won't be any issues. I just wasn't sure how the compiler would handle the casting.

[jslee02]

Great! Thanks!