Should support nested canonical links for libsdformat (implicit for 9/10, implicit+explicit for 11) #342
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This was referenced Aug 20, 2020
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With the implementation merged in #341, I think the update to the proposal in gazebosim/sdf_tutorials#40 will complete this task |
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PR: #355 |
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To clarify, explicit nesting will come as part of #293. This issue will be closed before then, but the proposal will help track this feature. |
scpeters
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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 <scpeters@openrobotics.org>
scpeters
added a commit
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this issue
Oct 30, 2020
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 #342. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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I think this has been finished |
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