Add Joint class #1910
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Add Joint class #1910
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Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Codecov Report
@@ Coverage Diff @@
## ign-gazebo6 #1910 +/- ##
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+ Coverage 64.83% 64.98% +0.14%
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Files 323 324 +1
Lines 26429 26562 +133
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+ Hits 17135 17261 +126
- Misses 9294 9301 +7
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ahcorde
approved these changes
Mar 1, 2023
test/integration/joint.cc
Outdated
| ecm.CreateComponent<components::ChildLinkName>(id, | ||
| components::ChildLinkName("child_joint_name")); | ||
| EXPECT_EQ("child_joint_name", joint.ChildLinkName(ecm)); | ||
|
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mjcarroll
approved these changes
Mar 1, 2023
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🎉 New feature
Part of #325
Summary
Add Joint APIs that help ease migration from gazebo-classic.
Note that I kept the API names somewhat consistent with classic but there are a few things to note:
Set*functions now take a vector of doubles as arg (consistent with as theJointVelocitycomponent) instead of a scalar value and joint index, e.g.SetVelocity(const std::vector<double> &_vel)SetVelocity(unsigned int _index, double _vel)SetVelocityinstead ofSetVelocities, also done to be consistent with the naming convention in the joint component, e.g.JointVelocityEnable*Checkmust be called before reading velocity/position/wrench dataTest it
Run the
UNIT_Joint_TESTand INTEGRATION_joint tests:Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.