Merge pull request #341 from jcarpent/devel

Remove default name for joint

src/multibody/model.hpp

@@ -158,11 +158,11 @@ namespace se3
     ///
     template<typename JointModelDerived>
     JointIndex addJoint(const JointIndex parent, const JointModelBase<JointModelDerived> & joint_model, const SE3 & joint_placement,
+                        const std::string & joint_name,
                         const Eigen::VectorXd & max_effort,
                         const Eigen::VectorXd & max_velocity,
                         const Eigen::VectorXd & min_config,
-                        const Eigen::VectorXd & max_config,
-                        const std::string & joint_name = ""
+                        const Eigen::VectorXd & max_config
                         );
 
     ///
@@ -184,7 +184,7 @@ namespace se3
     ///
     template<typename JointModelDerived>
     JointIndex addJoint(const JointIndex parent, const JointModelBase<JointModelDerived> & joint_model, const SE3 & joint_placement,
-                        const std::string & joint_name = ""
+                        const std::string & joint_name
                         );
 
     ///

src/multibody/model.hxx

@@ -56,11 +56,11 @@ namespace se3
   Model::JointIndex Model::addJoint(const Model::JointIndex parent,
                                     const JointModelBase<JointModelDerived> & joint_model,
                                     const SE3 & joint_placement,
+                                    const std::string & joint_name,
                                     const Eigen::VectorXd & max_effort,
                                     const Eigen::VectorXd & max_velocity,
                                     const Eigen::VectorXd & min_config,
-                                    const Eigen::VectorXd & max_config,
-                                    const std::string & joint_name
+                                    const Eigen::VectorXd & max_config
                                     )
   {
     assert( (njoints==(int)joints.size())&&(njoints==(int)inertias.size())
@@ -80,7 +80,7 @@ namespace se3
     inertias       .push_back(Inertia::Zero());
     parents        .push_back(parent);
     jointPlacements.push_back(joint_placement);
-    names          .push_back((joint_name!="")?joint_name:randomStringGenerator(8));
+    names          .push_back(joint_name);
     nq += joint_model.nq();
     nv += joint_model.nv();
 
@@ -116,7 +116,7 @@ namespace se3
     min_config = Eigen::VectorXd::Constant(joint_model.nq(), std::numeric_limits<double>::max());
     max_config = Eigen::VectorXd::Constant(joint_model.nq(), std::numeric_limits<double>::max());
 
-    return addJoint(parent, joint_model, joint_placement, max_effort, max_velocity, min_config, max_config, joint_name);
+    return addJoint(parent, joint_model, joint_placement, joint_name, max_effort, max_velocity, min_config, max_config);
   }
   
   inline int Model::addJointFrame (const JointIndex& jidx,

src/parsers/sample-models.cpp

@@ -41,11 +41,12 @@ namespace se3
       if (setRandomLimits)
         idx = model.addJoint(model.getJointId(parent_name),joint,
                            SE3::Random(),
+                             name + "_joint",
                            TV::Random() + TV::Constant(1),
                            TV::Random() + TV::Constant(1),
                            CV::Random() - CV::Constant(1),
-                           CV::Random() + CV::Constant(1),
-                           name + "_joint");
+                           CV::Random() + CV::Constant(1)
+                           );
       else
         idx = model.addJoint(model.getJointId(parent_name),joint,
                              placement, name + "_joint");

src/parsers/urdf/model.cpp

@@ -99,8 +99,9 @@ namespace se3
         
         idx = model.addJoint(frame.parent,jmodel,
                              frame.placement * joint_placement,
-                             max_effort,max_velocity,min_config,max_config,
-                             joint_name);
+                             joint_name,
+                             max_effort,max_velocity,min_config,max_config
+                             );
         FrameIndex jointFrameId = (FrameIndex) model.addJointFrame(idx, (int)parentFrameId); // C-style cast to remove polluting compilation warning. This is Bad practice. See issue #323 (rework indexes)
         appendBodyToJoint(model, jointFrameId, Y, SE3::Identity(), body_name);
       }

unittest/joint-configurations.cpp

@@ -48,11 +48,11 @@ void addJointAndBody(Model & model, const JointModelBase<D> & jmodel, const Mode
   typedef typename D::ConfigVector_t CV;
   
   idx = model.addJoint(parent_id,jmodel,joint_placement,
+                       name + "_joint",
                        TV::Zero(),
                        1e3 * (TV::Random() + TV::Constant(1)),
                        1e3 * (CV::Random() - CV::Constant(1)),
-                       1e3 * (CV::Random() + CV::Constant(1)),
-                       name + "_joint"
+                       1e3 * (CV::Random() + CV::Constant(1))
                        );
   
   model.appendBodyToJoint(idx,Y,SE3::Identity());

unittest/visitor.cpp

@@ -82,7 +82,7 @@ BOOST_AUTO_TEST_CASE ( test_runal )
   using namespace se3;
 
   se3::Model model;
-  model.addJoint(0,se3::JointModelRevoluteUnaligned(0,0,1),se3::SE3::Random());
+  model.addJoint(0,se3::JointModelRevoluteUnaligned(0,0,1),se3::SE3::Random(),"");
   Data data(model);
 
   for( Model::JointIndex i=1;i<(Model::JointIndex)model.njoints;++i )