rename new API to checkJointParentChildNames

scpeters · scpeters · commit db3a590ab8de · 2021-10-14T03:30:47.000-07:00
Signed-off-by: Steve Peters &lt;scpeters@openrobotics.org&gt;
diff --git a/include/sdf/parser.hh b/include/sdf/parser.hh
@@ -389,13 +389,14 @@ namespace sdf
   bool checkJointParentChildLinkNames(const sdf::Root *_root);
 
   /// \brief Check that all joints in contained models specify parent
-  /// and child link names that match the names of sibling links.
+  /// and child names that match the names of sibling links, joints,
+  /// models, or frames.
   /// This checks recursively and should check the files exhaustively
   /// rather than terminating early when the first error is found.
   /// \param[in] _root SDF Root object to check recursively.
   /// \param[out] _errors Detected errors will be appended to this variable.
   SDFORMAT_VISIBLE
-  void checkJointParentChildLinkNames(const sdf::Root *_root, Errors &_errors);
+  void checkJointParentChildNames(const sdf::Root *_root, Errors &_errors);
 
   /// \brief For the world and each model, check that the attached_to graphs
   /// build without errors and have no cycles.
diff --git a/src/Root.cc b/src/Root.cc
@@ -327,7 +327,7 @@ Errors Root::Load(SDFPtr _sdf, const ParserConfig &_config)
 
   // Check that Joint parent and child names resolve to valid and
   // different frames.
-  checkJointParentChildLinkNames(this, errors);
+  checkJointParentChildNames(this, errors);
 
   return errors;
 }
diff --git a/src/parser.cc b/src/parser.cc
@@ -2245,7 +2245,7 @@ bool checkPoseRelativeToGraph(const sdf::Root *_root)
 bool checkJointParentChildLinkNames(const sdf::Root *_root)
 {
   Errors errors;
-  checkJointParentChildLinkNames(_root, errors);
+  checkJointParentChildNames(_root, errors);
   if (!errors.empty())
   {
     std::cerr << "Error when attempting to resolve child link name:"
@@ -2257,7 +2257,7 @@ bool checkJointParentChildLinkNames(const sdf::Root *_root)
 }
 
 //////////////////////////////////////////////////
-void checkJointParentChildLinkNames(const sdf::Root *_root, Errors &_errors)
+void checkJointParentChildNames(const sdf::Root *_root, Errors &_errors)
 {
   auto checkModelJointParentChildNames = [](
       const sdf::Model *_model, Errors &errors) -> void

Original file line number	Diff line number	Diff line change
`@@ -327,7 +327,7 @@ Errors Root::Load(SDFPtr _sdf, const ParserConfig &_config)`
`327`	`327`
`328`	`328`	`// Check that Joint parent and child names resolve to valid and`
`329`	`329`	`// different frames.`
`330`		`- checkJointParentChildLinkNames(this, errors);`
	`330`	`+ checkJointParentChildNames(this, errors);`
`331`	`331`
`332`	`332`	`return errors;`
`333`	`333`	`}`
Original file line number	Diff line number	Diff line change
`@@ -2245,7 +2245,7 @@ bool checkPoseRelativeToGraph(const sdf::Root *_root)`
`2245`	`2245`	`bool checkJointParentChildLinkNames(const sdf::Root *_root)`
`2246`	`2246`	`{`
`2247`	`2247`	`Errors errors;`
`2248`		`- checkJointParentChildLinkNames(_root, errors);`
	`2248`	`+ checkJointParentChildNames(_root, errors);`
`2249`	`2249`	`if (!errors.empty())`
`2250`	`2250`	`{`
`2251`	`2251`	`std::cerr << "Error when attempting to resolve child link name:"`
`@@ -2257,7 +2257,7 @@ bool checkJointParentChildLinkNames(const sdf::Root *_root)`
`2257`	`2257`	`}`
`2258`	`2258`
`2259`	`2259`	`//////////////////////////////////////////////////`
`2260`		`-void checkJointParentChildLinkNames(const sdf::Root *_root, Errors &_errors)`
	`2260`	`+void checkJointParentChildNames(const sdf::Root *_root, Errors &_errors)`
`2261`	`2261`	`{`
`2262`	`2262`	`auto checkModelJointParentChildNames = [](`
`2263`	`2263`	`const sdf::Model *_model, Errors &errors) -> void`