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Levi ArmstrongLevi-Armstrong
Levi Armstrong
authored and
Levi-Armstrong
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Rename AddCommand to AddLinkCommand
1 parent 5c3b418 commit 9cbb014

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7 files changed

+26
-26
lines changed

7 files changed

+26
-26
lines changed

‎tesseract_environment/include/tesseract_environment/core/command.h‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -38,7 +38,7 @@ namespace tesseract_environment
3838
{
3939
enum class CommandType
4040
{
41-
ADD = 0,
41+
ADD_LINK = 0,
4242
MOVE_LINK = 1,
4343
MOVE_JOINT = 2,
4444
REMOVE_LINK = 3,

‎tesseract_environment/include/tesseract_environment/core/commands.h‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -29,7 +29,7 @@
2929
#define TESSERACT_ENVIRONMENT_COMMANDS_H
3030

3131
#include <tesseract_environment/core/commands/add_allowed_collision_command.h>
32-
#include <tesseract_environment/core/commands/add_command.h>
32+
#include <tesseract_environment/core/commands/add_link_command.h>
3333
#include <tesseract_environment/core/commands/add_kinematics_information_command.h>
3434
#include <tesseract_environment/core/commands/add_scene_graph_command.h>
3535
#include <tesseract_environment/core/commands/change_default_contact_margin_command.h>
@@ -51,7 +51,7 @@
5151
#ifdef SWIG
5252

5353
%shared_ptr(tesseract_environment::Command)
54-
%shared_ptr(tesseract_environment::AddCommand)
54+
%shared_ptr(tesseract_environment::AddLinkCommand)
5555
%shared_ptr(tesseract_environment::MoveLinkCommand)
5656
%shared_ptr(tesseract_environment::MoveJointCommand)
5757
%shared_ptr(tesseract_environment::RemoveLinkCommand)
@@ -74,7 +74,7 @@
7474

7575
%shared_factory(
7676
tesseract_environment::Command,
77-
tesseract_environment::AddCommand,
77+
tesseract_environment::AddLinkCommand,
7878
tesseract_environment::MoveLinkCommand,
7979
tesseract_environment::MoveJointCommand,
8080
tesseract_environment::RemoveLinkCommand,

tesseract_environment/include/tesseract_environment/core/commands/add_command.h renamed to tesseract_environment/include/tesseract_environment/core/commands/add_link_command.h

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
/**
2-
* @file add_command.h
2+
* @file add_link_command.h
33
* @brief Used to add link and joint to environment
44
*
55
* @author Levi Armstrong
@@ -37,11 +37,11 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
3737

3838
namespace tesseract_environment
3939
{
40-
class AddCommand : public Command
40+
class AddLinkCommand : public Command
4141
{
4242
public:
43-
using Ptr = std::shared_ptr<AddCommand>;
44-
using ConstPtr = std::shared_ptr<const AddCommand>;
43+
using Ptr = std::shared_ptr<AddLinkCommand>;
44+
using ConstPtr = std::shared_ptr<const AddLinkCommand>;
4545

4646
/**
4747
* @brief Adds a link to the environment
@@ -51,7 +51,7 @@ class AddCommand : public Command
5151
*
5252
* @param link The link to be added to the graph
5353
*/
54-
AddCommand(const tesseract_scene_graph::Link& link)
54+
AddLinkCommand(const tesseract_scene_graph::Link& link)
5555
: link_(std::make_shared<tesseract_scene_graph::Link>(link.clone())), joint_(nullptr)
5656
{
5757
}
@@ -61,13 +61,13 @@ class AddCommand : public Command
6161
* @param link The link to be added to the graph
6262
* @param joint The joint to be used to attach link to environment
6363
*/
64-
AddCommand(const tesseract_scene_graph::Link& link, const tesseract_scene_graph::Joint& joint)
64+
AddLinkCommand(const tesseract_scene_graph::Link& link, const tesseract_scene_graph::Joint& joint)
6565
: link_(std::make_shared<tesseract_scene_graph::Link>(link.clone()))
6666
, joint_(std::make_shared<tesseract_scene_graph::Joint>(joint.clone()))
6767
{
6868
}
6969

70-
CommandType getType() const final { return CommandType::ADD; }
70+
CommandType getType() const final { return CommandType::ADD_LINK; }
7171
const tesseract_scene_graph::Link::ConstPtr& getLink() const { return link_; }
7272
const tesseract_scene_graph::Joint::ConstPtr& getJoint() const { return joint_; }
7373

‎tesseract_environment/include/tesseract_environment/core/environment.h‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -760,7 +760,7 @@ class Environment
760760
const tesseract_scene_graph::SRDFModel::ConstPtr& srdf_model = nullptr);
761761

762762
// Command Helper function
763-
bool applyAddCommand(AddCommand::ConstPtr cmd);
763+
bool applyAddCommand(AddLinkCommand::ConstPtr cmd);
764764
bool applyMoveLinkCommand(const MoveLinkCommand::ConstPtr& cmd);
765765
bool applyMoveJointCommand(const MoveJointCommand::ConstPtr& cmd);
766766
bool applyRemoveLinkCommand(const RemoveLinkCommand::ConstPtr& cmd);

‎tesseract_environment/src/core/environment.cpp‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -180,9 +180,9 @@ bool Environment::applyCommands(const Commands& commands)
180180

181181
switch (command->getType())
182182
{
183-
case tesseract_environment::CommandType::ADD:
183+
case tesseract_environment::CommandType::ADD_LINK:
184184
{
185-
auto cmd = std::static_pointer_cast<const AddCommand>(command);
185+
auto cmd = std::static_pointer_cast<const AddLinkCommand>(command);
186186
success &= applyAddCommand(cmd);
187187
break;
188188
}
@@ -953,12 +953,12 @@ bool Environment::addKinematicsInformation(const tesseract_scene_graph::Kinemati
953953

954954
bool Environment::addLink(const tesseract_scene_graph::Link& link)
955955
{
956-
return applyCommand(std::make_shared<AddCommand>(link));
956+
return applyCommand(std::make_shared<AddLinkCommand>(link));
957957
}
958958

959959
bool Environment::addLink(const tesseract_scene_graph::Link& link, const tesseract_scene_graph::Joint& joint)
960960
{
961-
return applyCommand(std::make_shared<AddCommand>(link, joint));
961+
return applyCommand(std::make_shared<AddLinkCommand>(link, joint));
962962
}
963963

964964
bool Environment::moveLink(const tesseract_scene_graph::Joint& joint)
@@ -1059,7 +1059,7 @@ bool Environment::addSceneGraph(const tesseract_scene_graph::SceneGraph& scene_g
10591059
//////////////// Internal Apply Command //////////////////////
10601060
//////////////////////////////////////////////////////////////
10611061

1062-
bool Environment::applyAddCommand(AddCommand::ConstPtr cmd)
1062+
bool Environment::applyAddCommand(AddLinkCommand::ConstPtr cmd)
10631063
{
10641064
if (!cmd->getLink() && !cmd->getJoint())
10651065
return false;
@@ -1074,7 +1074,7 @@ bool Environment::applyAddCommand(AddCommand::ConstPtr cmd)
10741074
joint.parent_link_name = getRootLinkName();
10751075

10761076
tesseract_scene_graph::Link::ConstPtr link = cmd->getLink();
1077-
cmd = std::make_shared<AddCommand>(*link, joint);
1077+
cmd = std::make_shared<AddLinkCommand>(*link, joint);
10781078
}
10791079
std::string joint_name = cmd->getJoint()->getName();
10801080

‎tesseract_environment/src/ofkt/ofkt_state_solver.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -304,9 +304,9 @@ void OFKTStateSolver::onEnvironmentChanged(const Commands& commands)
304304

305305
switch (command->getType())
306306
{
307-
case tesseract_environment::CommandType::ADD:
307+
case tesseract_environment::CommandType::ADD_LINK:
308308
{
309-
const auto& cmd = static_cast<const tesseract_environment::AddCommand&>(*command);
309+
const auto& cmd = static_cast<const tesseract_environment::AddLinkCommand&>(*command);
310310
assert(cmd.getJoint() != nullptr);
311311

312312
const tesseract_scene_graph::Joint::ConstPtr& joint = cmd.getJoint();

‎tesseract_environment/test/tesseract_environment_unit.cpp‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -277,9 +277,9 @@ void runAddandRemoveLinkTest(bool use_command = false)
277277

278278
if (use_command)
279279
{
280-
auto cmd = std::make_shared<AddCommand>(link_1);
280+
auto cmd = std::make_shared<AddLinkCommand>(link_1);
281281
EXPECT_TRUE(cmd != nullptr);
282-
EXPECT_EQ(cmd->getType(), CommandType::ADD);
282+
EXPECT_EQ(cmd->getType(), CommandType::ADD_LINK);
283283
EXPECT_TRUE(cmd->getLink() != nullptr);
284284
EXPECT_TRUE(cmd->getJoint() == nullptr);
285285
EXPECT_TRUE(env->applyCommand(cmd));
@@ -307,9 +307,9 @@ void runAddandRemoveLinkTest(bool use_command = false)
307307

308308
if (use_command)
309309
{
310-
auto cmd = std::make_shared<AddCommand>(link_2, joint_1);
310+
auto cmd = std::make_shared<AddLinkCommand>(link_2, joint_1);
311311
EXPECT_TRUE(cmd != nullptr);
312-
EXPECT_EQ(cmd->getType(), CommandType::ADD);
312+
EXPECT_EQ(cmd->getType(), CommandType::ADD_LINK);
313313
EXPECT_TRUE(cmd->getLink() != nullptr);
314314
EXPECT_TRUE(cmd->getJoint() != nullptr);
315315
EXPECT_TRUE(env->applyCommand(cmd));
@@ -1221,7 +1221,7 @@ void runApplyCommandsTest()
12211221
// Add
12221222
{
12231223
{
1224-
Commands commands{ std::make_shared<AddCommand>(*link_1, *joint_1) };
1224+
Commands commands{ std::make_shared<AddLinkCommand>(*link_1, *joint_1) };
12251225
EXPECT_TRUE(env->applyCommands(commands));
12261226
EXPECT_FALSE(env->applyCommands(commands));
12271227

@@ -1231,7 +1231,7 @@ void runApplyCommandsTest()
12311231
EXPECT_TRUE(std::find(joint_names.begin(), joint_names.end(), joint_name1) != joint_names.end());
12321232
}
12331233
{
1234-
Commands commands{ std::make_shared<AddCommand>(*link_2) };
1234+
Commands commands{ std::make_shared<AddLinkCommand>(*link_2) };
12351235
EXPECT_TRUE(env->applyCommands(commands));
12361236
std::vector<std::string> link_names = env->getLinkNames();
12371237
std::vector<std::string> joint_names = env->getJointNames();

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