Merge ce8c032 into a55f9e3

scpeters · web-flow · commit fa37f0006c4d · 2021-10-05T06:23:09.000+02:00
diff --git a/src/Model.cc b/src/Model.cc
@@ -397,9 +397,18 @@ Errors Model::Load(ElementPtr _sdf)
     errors.insert(errors.end(), setPoseRelativeToGraphErrors.begin(),
                                 setPoseRelativeToGraphErrors.end());
   }
+  // Pass graph pointer to joint and check parent names
   for (auto &joint : this->dataPtr->joints)
   {
     joint.SetPoseRelativeToGraph(this->dataPtr->poseGraph);
+    const std::string &parentLinkName = joint.ParentLinkName();
+    if (parentLinkName != "world" && !this->LinkByName(parentLinkName))
+    {
+      errors.push_back({ErrorCode::JOINT_PARENT_LINK_INVALID,
+          "parent link with name[" + parentLinkName +
+          "] specified by joint with name[" + joint.Name() +
+          "] not found in model with name[" + this->Name() + "]."});
+    }
   }
   for (auto &frame : this->dataPtr->frames)
   {
diff --git a/src/ign_TEST.cc b/src/ign_TEST.cc
@@ -260,6 +260,17 @@ TEST(check, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF))
     EXPECT_EQ("Valid.\n", output) << output;
   }
 
+  // Check an SDF file with the infinite values for joint axis limits.
+  // This is a valid file.
+  {
+    std::string path = pathBase +"/joint_axis_infinite_limits.sdf";
+
+    // Check joint_axis_infinite_limits.sdf
+    std::string output =
+      custom_exec_str(IgnCommand() + " sdf -k " + path + SdfVersion());
+    EXPECT_EQ("Valid.\n", output) << output;
+  }
+
   // Check an SDF file with the second link specified as the canonical link.
   // This is a valid file.
   {
diff --git a/test/sdf/joint_axis_infinite_limits.sdf b/test/sdf/joint_axis_infinite_limits.sdf
@@ -6,6 +6,7 @@
     <link name="link3"/>
     <link name="link4"/>
     <link name="link5"/>
+    <link name="link6"/>
 
     <joint name="default_joint_limits" type="revolute">
       <child>link1</child>
diff --git a/test/sdf/joint_axis_xyz_normalization.sdf b/test/sdf/joint_axis_xyz_normalization.sdf
@@ -6,6 +6,7 @@
     <link name="link3"/>
     <link name="link4"/>
     <link name="link5"/>
+    <link name="link6"/>
 
     <joint name="joint1" type="revolute">
       <child>link1</child>

Original file line number	Diff line number	Diff line change
`@@ -397,9 +397,18 @@ Errors Model::Load(ElementPtr _sdf)`
`397`	`397`	`errors.insert(errors.end(), setPoseRelativeToGraphErrors.begin(),`
`398`	`398`	`setPoseRelativeToGraphErrors.end());`
`399`	`399`	`}`
	`400`	`+ // Pass graph pointer to joint and check parent names`
`400`	`401`	`for (auto &joint : this->dataPtr->joints)`
`401`	`402`	`{`
`402`	`403`	`joint.SetPoseRelativeToGraph(this->dataPtr->poseGraph);`
	`404`	`+ const std::string &parentLinkName = joint.ParentLinkName();`
	`405`	`+ if (parentLinkName != "world" && !this->LinkByName(parentLinkName))`
	`406`	`+ {`
	`407`	`+ errors.push_back({ErrorCode::JOINT_PARENT_LINK_INVALID,`
	`408`	`+ "parent link with name[" + parentLinkName +`
	`409`	`+ "] specified by joint with name[" + joint.Name() +`
	`410`	`+ "] not found in model with name[" + this->Name() + "]."});`
	`411`	`+ }`
`403`	`412`	`}`
`404`	`413`	`for (auto &frame : this->dataPtr->frames)`
`405`	`414`	`{`