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Fix deeply nested merge-include for custom parsed files #1293

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merged 8 commits into from
Aug 22, 2023
Merged

Fix deeply nested merge-include for custom parsed files #1293

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17bac81
Add failing tests
azeey Jul 24, 2023
7c3fe46
Fix Model::CanonicalLinkAndRelativeName
azeey Jul 24, 2023
b39ee4a
Rework how we load elements in World::Load and Model::Load
azeey Jul 24, 2023
30b1fe9
Handle deeply nested merged models when custom parsers are present
azeey Jul 24, 2023
e852813
Address review feedback.
azeey Aug 4, 2023
11f3b1d
Merge remote-tracking branch 'origin/sdf13' into fix_deeply_nested_me…
azeey Aug 19, 2023
b4c3522
Address reviewer feedback
azeey Aug 19, 2023
e44c813
Add comment regarding implicitFrameNames.
azeey Aug 22, 2023
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18 changes: 18 additions & 0 deletions include/sdf/Model.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -529,6 +529,24 @@ namespace sdf
private: const std::vector<std::pair<std::optional<sdf::NestedInclude>,
sdf::InterfaceModelConstPtr>> &MergedInterfaceModels() const;

/// \brief Get whether the model was merge-included and needs to be
/// processed to carry out the merge.
/// \return True if the model was merge-included.
private: bool IsMerged() const;

/// \brief Prepare the model to be merged into the parent model or world.
/// As part of the perparation, this will create the proxy frame that would
/// be need to be added to the parent object.
/// \param[out] _errors A list of errors encountered during the operation.
/// \param[in] _parentOfProxyFrame Name of parent of the proxy frame that
/// will be created. This can only be "__model__" or "world".
/// \return The proxy frame for the merged model that will need to be added
/// to the parent object.
/// \note This is a destructive call. After this call, the model will be in
/// an invalid state unless it is merged into the parent object.
private: sdf::Frame PrepareForMerge(sdf::Errors &_errors,
const std::string &_parentOfProxyFrame);

/// \brief Allow Root::Load, World::SetPoseRelativeToGraph, or
/// World::SetFrameAttachedToGraph to call SetPoseRelativeToGraph and
/// SetFrameAttachedToGraph
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