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Added continuous joint type #215

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merged 1 commit into from
Jan 20, 2022
Merged

Added continuous joint type #215

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1 change: 1 addition & 0 deletions proto/ignition/msgs/joint.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,7 @@ message Joint
SCREW = 5;
GEARBOX = 6;
FIXED = 7;
CONTINUOUS = 8;
}

/// \brief Optional header data
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9 changes: 9 additions & 0 deletions src/Utility.cc
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Expand Up @@ -567,6 +567,10 @@ namespace ignition
{
result = msgs::Joint::FIXED;
}
else if (_str == "continuous")
{
result = msgs::Joint::CONTINUOUS;
}
else
{
std::cerr << "Unrecognized JointType ["
Expand Down Expand Up @@ -623,6 +627,11 @@ namespace ignition
result = "fixed";
break;
}
case msgs::Joint::CONTINUOUS:
{
result = "continuous";
break;
}
default:
{
result = "unknown";
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1 change: 1 addition & 0 deletions src/Utility_TEST.cc
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Expand Up @@ -599,6 +599,7 @@ TEST(MsgsTest, ConvertMsgsJointTypeToString)
CompareMsgsJointTypeToString(msgs::Joint::SCREW);
CompareMsgsJointTypeToString(msgs::Joint::GEARBOX);
CompareMsgsJointTypeToString(msgs::Joint::FIXED);
CompareMsgsJointTypeToString(msgs::Joint::CONTINUOUS);

EXPECT_EQ(msgs::ConvertJointType("bad type"), msgs::Joint::REVOLUTE);
EXPECT_EQ(msgs::ConvertJointType(msgs::Joint::Type(100)), "unknown");
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