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Add error handling for JointAxis::SetXyz and remove use of use_parent_model_frame #288

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merged 4 commits into from
Sep 2, 2020
Merged

Add error handling for JointAxis::SetXyz and remove use of use_parent_model_frame #288

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28929ae
Add error handling for JointAxis::SetXyz and remove use of use_parent…
azeey Aug 12, 2020
b894ff7
Merge branch 'master' into joint_axis_xyz_warning
scpeters Aug 24, 2020
df2a1cc
Merge branch 'master' into joint_axis_xyz_warning
azeey Aug 31, 2020
278cde4
actions CI for forks
chapulina Sep 1, 2020
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2 changes: 1 addition & 1 deletion .github/workflows/ci-bionic.yml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
name: Ubuntu CI

on: [push]
on: [push, pull_request]

jobs:
bionic-ci:
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21 changes: 4 additions & 17 deletions src/Conversions.cc
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Expand Up @@ -570,14 +570,6 @@ msgs::Axis ignition::gazebo::convert(const sdf::JointAxis &_in)
{
msgs::Axis out;
msgs::Set(out.mutable_xyz(), _in.Xyz());
#ifndef _WIN32
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
out.set_use_parent_model_frame(_in.UseParentModelFrame());
#ifndef _WIN32
# pragma GCC diagnostic pop
#endif
out.set_xyz_expressed_in(_in.XyzExpressedIn());
out.set_damping(_in.Damping());
out.set_friction(_in.Friction());
Expand Down Expand Up @@ -606,15 +598,10 @@ template<>
sdf::JointAxis ignition::gazebo::convert(const msgs::Axis &_in)
{
sdf::JointAxis out;
out.SetXyz(msgs::Convert(_in.xyz()));
#ifndef _WIN32
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
out.SetUseParentModelFrame(_in.use_parent_model_frame());
#ifndef _WIN32
# pragma GCC diagnostic pop
#endif
sdf::Errors errors = out.SetXyz(msgs::Convert(_in.xyz()));
for (const auto &err : errors) {
ignerr << err.Message() << std::endl;
}
out.SetXyzExpressedIn(_in.xyz_expressed_in());
out.SetDamping(_in.damping());
out.SetFriction(_in.friction());
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6 changes: 3 additions & 3 deletions src/Conversions_TEST.cc
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Expand Up @@ -434,7 +434,7 @@ TEST(Conversions, Inertial)
TEST(Conversions, JointAxis)
{
sdf::JointAxis jointAxis;
jointAxis.SetXyz(math::Vector3d(1, 2, 3));
EXPECT_TRUE(jointAxis.SetXyz(math::Vector3d(1, 2, 3)).empty());
jointAxis.SetXyzExpressedIn("__model__");
jointAxis.SetDamping(0.1);
jointAxis.SetFriction(0.2);
Expand All @@ -444,7 +444,7 @@ TEST(Conversions, JointAxis)
jointAxis.SetMaxVelocity(0.6);

auto axisMsg = convert<msgs::Axis>(jointAxis);
EXPECT_EQ(math::Vector3d(1, 2, 3), msgs::Convert(axisMsg.xyz()));
EXPECT_EQ(math::Vector3d(1, 2, 3).Normalized(), msgs::Convert(axisMsg.xyz()));
EXPECT_DOUBLE_EQ(0.1, axisMsg.damping());
EXPECT_DOUBLE_EQ(0.2, axisMsg.friction());
EXPECT_DOUBLE_EQ(0.3, axisMsg.limit_lower());
Expand All @@ -454,7 +454,7 @@ TEST(Conversions, JointAxis)
EXPECT_EQ(axisMsg.xyz_expressed_in(), "__model__");

auto newJointAxis = convert<sdf::JointAxis>(axisMsg);
EXPECT_EQ(math::Vector3d(1, 2, 3), newJointAxis.Xyz());
EXPECT_EQ(math::Vector3d(1, 2, 3).Normalized(), newJointAxis.Xyz());
EXPECT_DOUBLE_EQ(0.1, newJointAxis.Damping());
EXPECT_DOUBLE_EQ(0.2, newJointAxis.Friction());
EXPECT_DOUBLE_EQ(0.3, newJointAxis.Lower());
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4 changes: 2 additions & 2 deletions test/integration/components.cc
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Expand Up @@ -525,7 +525,7 @@ TEST_F(ComponentsTest, Joint)
TEST_F(ComponentsTest, JointAxis)
{
auto data1 = sdf::JointAxis();
data1.SetXyz(math::Vector3d(1, 2, 3));
EXPECT_TRUE(data1.SetXyz(math::Vector3d(1, 2, 3)).empty());
data1.SetXyzExpressedIn("__model__");
data1.SetDamping(0.1);
data1.SetFriction(0.2);
Expand All @@ -551,7 +551,7 @@ TEST_F(ComponentsTest, JointAxis)
components::JointAxis comp3;
comp3.Deserialize(istr);

EXPECT_EQ(math::Vector3d(1, 2, 3), comp3.Data().Xyz());
EXPECT_EQ(math::Vector3d(1, 2, 3).Normalized(), comp3.Data().Xyz());
EXPECT_DOUBLE_EQ(0.1, comp3.Data().Damping());
EXPECT_DOUBLE_EQ(0.2, comp3.Data().Friction());
EXPECT_DOUBLE_EQ(0.3, comp3.Data().Lower());
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