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Add Model::CanonicalLink getter #1594

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Jul 15, 2022
Merged

Add Model::CanonicalLink getter #1594

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6 changes: 6 additions & 0 deletions include/ignition/gazebo/Model.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -169,6 +169,12 @@ namespace ignition
public: void SetWorldPoseCmd(EntityComponentManager &_ecm,
const math::Pose3d &_pose);

/// \brief Get the model's canonical link entity.
/// \param[in] _ecm Entity-component manager.
/// \return Link entity.
public: gazebo::Entity CanonicalLink(
const EntityComponentManager &_ecm) const;

/// \brief Pointer to private data.
private: std::unique_ptr<ModelPrivate> dataPtr;
};
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8 changes: 8 additions & 0 deletions src/Model.cc
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Expand Up @@ -15,6 +15,7 @@
*
*/

#include "ignition/gazebo/components/CanonicalLink.hh"
#include "ignition/gazebo/components/Joint.hh"
#include "ignition/gazebo/components/Link.hh"
#include "ignition/gazebo/components/Model.hh"
Expand Down Expand Up @@ -193,3 +194,10 @@ void Model::SetWorldPoseCmd(EntityComponentManager &_ecm,
}
}

//////////////////////////////////////////////////
Entity Model::CanonicalLink(const EntityComponentManager &_ecm) const
{
return _ecm.EntityByComponents(
components::ParentEntity(this->dataPtr->id),
components::CanonicalLink());
}
30 changes: 30 additions & 0 deletions test/integration/model.cc
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Expand Up @@ -23,6 +23,7 @@

#include <ignition/gazebo/EntityComponentManager.hh>
#include <ignition/gazebo/Model.hh>
#include <ignition/gazebo/components/CanonicalLink.hh>
#include <ignition/gazebo/components/Joint.hh>
#include <ignition/gazebo/components/Link.hh>
#include <ignition/gazebo/components/Model.hh>
Expand Down Expand Up @@ -232,3 +233,32 @@ TEST_F(ModelIntegrationTest, SetWorldPoseCmd)
EXPECT_TRUE(ecm.HasOneTimeComponentChanges());
}

//////////////////////////////////////////////////
TEST_F(ModelIntegrationTest, CanonicalLink)
{
EntityComponentManager ecm;

// Model
auto eModel = ecm.CreateEntity();
Model model(eModel);
EXPECT_EQ(eModel, model.Entity());
EXPECT_EQ(0u, model.LinkCount(ecm));

// Links
auto canonicalLink = ecm.CreateEntity();
ecm.CreateComponent(canonicalLink, components::Link());
ecm.CreateComponent(canonicalLink, components::CanonicalLink());
ecm.CreateComponent(canonicalLink,
components::ParentEntity(eModel));
ecm.CreateComponent(canonicalLink, components::Name("canonical"));

auto anotherLink = ecm.CreateEntity();
ecm.CreateComponent(anotherLink, components::Link());
ecm.CreateComponent(anotherLink, components::ParentEntity(eModel));
ecm.CreateComponent(anotherLink, components::Name("another"));

// Check model
EXPECT_EQ(canonicalLink, model.CanonicalLink(ecm));
EXPECT_EQ(2u, model.LinkCount(ecm));
}