Check JointAxis expressed-in values during Load #1195
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Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Currently the //axis*/xyz/@expressed_in values are not checked that they refer to valid frames. This adds a check in Root::Load just after checking that the Joint parent and child names are valid. The JOINT_AXIS_EXPRESSED_IN_INVALID Error type is added and used when checking //xyz/@expressed_in. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Codecov Report
@@ Coverage Diff @@
## sdf13 #1195 +/- ##
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- Coverage 87.50% 87.28% -0.23%
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Files 124 125 +1
Lines 16096 16150 +54
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+ Hits 14085 14096 +11
- Misses 2011 2054 +43
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azeey
approved these changes
Nov 16, 2022
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
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🎉 New feature
Related to #1166
Summary
In
axisandaxis2elements, if the//xyz/@expressed_inattribute is not empty, then it must contain the name of a frame in the current scope. The parser does not currently check the validity of//xyz/@expressed_invalues, as evidenced by the test failure added in 078b042. A checking functioncheckJointAxisExpressedInValuesis added to the parser in 6ee6413, along with a new error typeJOINT_AXIS_EXPRESSED_IN_INVALID.Test it
Run the
INTEGRATION_joint_axis_domtest with each commit from this branch.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.