Rename notifyXUpdate() relevantly

CHANGELOG.md

@@ -12,6 +12,7 @@
 
 * Misc
 
+  * Modified the member function names pertain to lazy evaluation to be more relevant to their functionalities: [#833](https://github.com/dartsim/dart/pull/833)
   * Added Skeleton::getRootJoint(): [#832](https://github.com/dartsim/dart/pull/832)
   * Added CMake targets for code formatting using clang-format: [#811](https://github.com/dartsim/dart/pull/811), [#817](https://github.com/dartsim/dart/pull/817)
 

dart/common/Aspect.hpp

@@ -177,7 +177,7 @@ class CompositeTrackingAspect : public Aspect
 
 //==============================================================================
 #define DART_COMMON_SET_ASPECT_PROPERTY( Type, Name )\
-  DART_COMMON_SET_ASPECT_PROPERTY_CUSTOM( Type, Name, notifyPropertiesUpdate )
+  DART_COMMON_SET_ASPECT_PROPERTY_CUSTOM( Type, Name, notifyPropertiesUpdated )
 
 //==============================================================================
 #define DART_COMMON_GET_ASPECT_PROPERTY( Type, Name )\

dart/common/detail/AspectWithVersion.hpp

@@ -33,6 +33,7 @@
 #define DART_COMMON_DETAIL_ASPECTWITHVERSION_HPP_
 
 #include "dart/common/Aspect.hpp"
+#include "dart/common/Deprecated.hpp"
 #include "dart/common/StlHelpers.hpp"
 
 namespace dart {
@@ -151,8 +152,12 @@ class AspectWithVersionedProperties : public BaseT
   std::size_t incrementVersion();
 
   /// Call UpdateProperties(this) and incrementVersion()
+  DART_DEPRECATED(6.2)
   void notifyPropertiesUpdate();
 
+  /// Call UpdateProperties(this) and incrementVersion()
+  void notifyPropertiesUpdated();
+
 protected:
 
   /// Properties of this Aspect
@@ -286,7 +291,7 @@ void AspectWithVersionedProperties<BaseT, DerivedT, PropertiesData,
 setProperties(const PropertiesData& properties)
 {
   static_cast<PropertiesData&>(mProperties) = properties;
-  this->notifyPropertiesUpdate();
+  this->notifyPropertiesUpdated();
 }
 
 //==============================================================================
@@ -328,6 +333,16 @@ template <class BaseT, class DerivedT, typename PropertiesData,
 void AspectWithVersionedProperties<
     BaseT, DerivedT, PropertiesData,
     CompositeT, updateProperties>::notifyPropertiesUpdate()
+{
+  notifyPropertiesUpdated();
+}
+
+//==============================================================================
+template <class BaseT, class DerivedT, typename PropertiesData,
+          class CompositeT, void (*updateProperties)(DerivedT*)>
+void AspectWithVersionedProperties<
+    BaseT, DerivedT, PropertiesData,
+    CompositeT, updateProperties>::notifyPropertiesUpdated()
 {
   UpdateProperties(static_cast<Derived*>(this));
   this->incrementVersion();

dart/dynamics/ArrowShape.cpp

@@ -63,7 +63,7 @@ ArrowShape::ArrowShape(const Eigen::Vector3d& _tail,
   instantiate(_resolution);
   configureArrow(mTail, mHead, mProperties);
   setColorMode(MeshShape::COLOR_INDEX);
-  notifyColorUpdate(_color);
+  notifyColorUpdated(_color);
 }
 
 //==============================================================================
@@ -92,7 +92,7 @@ void ArrowShape::setProperties(const Properties& _properties)
 }
 
 //==============================================================================
-void ArrowShape::notifyColorUpdate(const Eigen::Vector4d& _color)
+void ArrowShape::notifyColorUpdated(const Eigen::Vector4d& _color)
 {
   for(std::size_t i=0; i<mMesh->mNumMeshes; ++i)
   {

dart/dynamics/ArrowShape.hpp

@@ -85,7 +85,7 @@ class ArrowShape : public MeshShape
   void setProperties(const Properties& _properties);
 
   /// Set the color of this arrow
-  void notifyColorUpdate(const Eigen::Vector4d& _color) override;
+  void notifyColorUpdated(const Eigen::Vector4d& _color) override;
 
   /// Get the properties of this arrow
   const Properties& getProperties() const;

dart/dynamics/BodyNode.cpp

@@ -467,7 +467,7 @@ void BodyNode::setMass(double _mass)
 
   mAspectProperties.mInertia.setMass(_mass);
 
-  notifyArticulatedInertiaUpdate();
+  dirtyArticulatedInertia();
   const SkeletonPtr& skel = getSkeleton();
   if(skel)
     skel->updateTotalMass();
@@ -487,7 +487,7 @@ void BodyNode::setMomentOfInertia(double _Ixx, double _Iyy, double _Izz,
         _Ixx, _Iyy, _Izz,
         _Ixy, _Ixz, _Iyz);
 
-  notifyArticulatedInertiaUpdate();
+  dirtyArticulatedInertia();
 }
 
 //==============================================================================
@@ -518,7 +518,7 @@ void BodyNode::setInertia(const Inertia& _inertia)
 
   mAspectProperties.mInertia = _inertia;
 
-  notifyArticulatedInertiaUpdate();
+  dirtyArticulatedInertia();
   const SkeletonPtr& skel = getSkeleton();
   if(skel)
     skel->updateTotalMass();
@@ -557,7 +557,7 @@ void BodyNode::setLocalCOM(const Eigen::Vector3d& _com)
 {
   mAspectProperties.mInertia.setLocalCOM(_com);
 
-  notifyArticulatedInertiaUpdate();
+  dirtyArticulatedInertia();
 }
 
 //==============================================================================
@@ -1375,7 +1375,7 @@ void BodyNode::init(const SkeletonPtr& _skeleton)
   mWorldJacobian.setZero(6, numDepGenCoords);
   mBodyJacobianSpatialDeriv.setZero(6, numDepGenCoords);
   mWorldJacobianClassicDeriv.setZero(6, numDepGenCoords);
-  notifyTransformUpdate();
+  dirtyTransform();
 }
 
 //==============================================================================
@@ -1441,9 +1441,9 @@ void BodyNode::processRemovedEntity(Entity* _oldChildEntity)
 }
 
 //==============================================================================
-void BodyNode::notifyTransformUpdate()
+void BodyNode::dirtyTransform()
 {
-  notifyVelocityUpdate(); // Global Velocity depends on the Global Transform
+  dirtyVelocity(); // Global Velocity depends on the Global Transform
 
   if(mNeedTransformUpdate)
     return;
@@ -1466,16 +1466,16 @@ void BodyNode::notifyTransformUpdate()
   // Child BodyNodes and other generic Entities are notified separately to allow
   // some optimizations
   for(std::size_t i=0; i<mChildBodyNodes.size(); ++i)
-    mChildBodyNodes[i]->notifyTransformUpdate();
+    mChildBodyNodes[i]->dirtyTransform();
 
   for(Entity* entity : mNonBodyNodeEntities)
-    entity->notifyTransformUpdate();
+    entity->dirtyTransform();
 }
 
 //==============================================================================
-void BodyNode::notifyVelocityUpdate()
+void BodyNode::dirtyVelocity()
 {
-  notifyAccelerationUpdate(); // Global Acceleration depends on Global Velocity
+  dirtyAcceleration(); // Global Acceleration depends on Global Velocity
 
   if(mNeedVelocityUpdate)
     return;
@@ -1493,14 +1493,14 @@ void BodyNode::notifyVelocityUpdate()
   // Child BodyNodes and other generic Entities are notified separately to allow
   // some optimizations
   for(std::size_t i=0; i<mChildBodyNodes.size(); ++i)
-    mChildBodyNodes[i]->notifyVelocityUpdate();
+    mChildBodyNodes[i]->dirtyVelocity();
 
   for(Entity* entity : mNonBodyNodeEntities)
-    entity->notifyVelocityUpdate();
+    entity->dirtyVelocity();
 }
 
 //==============================================================================
-void BodyNode::notifyAccelerationUpdate()
+void BodyNode::dirtyAcceleration()
 {
   // If we already know we need to update, just quit
   if(mNeedAccelerationUpdate)
@@ -1509,28 +1509,46 @@ void BodyNode::notifyAccelerationUpdate()
   mNeedAccelerationUpdate = true;
 
   for(std::size_t i=0; i<mChildBodyNodes.size(); ++i)
-    mChildBodyNodes[i]->notifyAccelerationUpdate();
+    mChildBodyNodes[i]->dirtyAcceleration();
 
   for(Entity* entity : mNonBodyNodeEntities)
-    entity->notifyAccelerationUpdate();
+    entity->dirtyAcceleration();
 }
 
 //==============================================================================
 void BodyNode::notifyArticulatedInertiaUpdate()
+{
+  dirtyArticulatedInertia();
+}
+
+//==============================================================================
+void BodyNode::dirtyArticulatedInertia()
 {
   const SkeletonPtr& skel = getSkeleton();
   if(skel)
-    skel->notifyArticulatedInertiaUpdate(mTreeIndex);
+    skel->dirtyArticulatedInertia(mTreeIndex);
 }
 
 //==============================================================================
 void BodyNode::notifyExternalForcesUpdate()
+{
+  dirtyExternalForces();
+}
+
+//==============================================================================
+void BodyNode::dirtyExternalForces()
 {
   SKEL_SET_FLAGS(mExternalForces);
 }
 
 //==============================================================================
 void BodyNode::notifyCoriolisUpdate()
+{
+  dirtyCoriolisForces();
+}
+
+//==============================================================================
+void BodyNode::dirtyCoriolisForces()
 {
   SKEL_SET_FLAGS(mCoriolisForces);
   SKEL_SET_FLAGS(mCoriolisAndGravityForces);

dart/dynamics/BodyNode.hpp

@@ -832,24 +832,37 @@ class BodyNode :
   //----------------------------------------------------------------------------
 
   // Documentation inherited
-  void notifyTransformUpdate() override;
+  void dirtyTransform() override;
 
   // Documentation inherited
-  void notifyVelocityUpdate() override;
+  void dirtyVelocity() override;
 
   // Documentation inherited
-  void notifyAccelerationUpdate() override;
+  void dirtyAcceleration() override;
 
   /// Notify the Skeleton that the tree of this BodyNode needs an articulated
   /// inertia update
+  DART_DEPRECATED(6.2)
   void notifyArticulatedInertiaUpdate();
 
+  /// Notify the Skeleton that the tree of this BodyNode needs an articulated
+  /// inertia update
+  void dirtyArticulatedInertia();
+
   /// Tell the Skeleton that the external forces need to be updated
+  DART_DEPRECATED(6.2)
   void notifyExternalForcesUpdate();
 
+  /// Tell the Skeleton that the external forces need to be updated
+  void dirtyExternalForces();
+
   /// Tell the Skeleton that the coriolis forces need to be update
+  DART_DEPRECATED(6.2)
   void notifyCoriolisUpdate();
 
+  /// Tell the Skeleton that the coriolis forces need to be update
+  void dirtyCoriolisForces();
+
   //----------------------------------------------------------------------------
   // Friendship
   //----------------------------------------------------------------------------

dart/dynamics/EndEffector.cpp

@@ -49,7 +49,7 @@ EndEffectorProperties::EndEffectorProperties(const Eigen::Isometry3d& defaultTf)
 void SupportUpdate(Support* support)
 {
   if(EndEffector* ee = support->getComposite())
-    ee->getSkeleton()->notifySupportUpdate(ee->getTreeIndex());
+    ee->getSkeleton()->dirtySupportPolygon(ee->getTreeIndex());
 }
 
 } // namespace detail
@@ -138,16 +138,16 @@ void EndEffector::resetRelativeTransform()
 }
 
 //==============================================================================
-void EndEffector::notifyTransformUpdate()
+void EndEffector::dirtyTransform()
 {
   if(!mNeedTransformUpdate)
   {
     const SkeletonPtr& skel = getSkeleton();
     if(skel)
-      skel->notifySupportUpdate(getTreeIndex());
+      skel->dirtySupportPolygon(getTreeIndex());
   }
 
-  Frame::notifyTransformUpdate();
+  Frame::dirtyTransform();
 }
 
 //==============================================================================

dart/dynamics/EndEffector.hpp

@@ -144,7 +144,7 @@ class EndEffector final :
   //----------------------------------------------------------------------------
 
   // Documentation inherited
-  void notifyTransformUpdate() override;
+  void dirtyTransform() override;
 
   /// \}
 

dart/dynamics/Entity.cpp

@@ -129,6 +129,12 @@ bool Entity::isFrame() const
 
 //==============================================================================
 void Entity::notifyTransformUpdate()
+{
+  dirtyTransform();
+}
+
+//==============================================================================
+void Entity::dirtyTransform()
 {
   mNeedTransformUpdate = true;
 
@@ -145,6 +151,12 @@ bool Entity::needsTransformUpdate() const
 
 //==============================================================================
 void Entity::notifyVelocityUpdate()
+{
+  dirtyVelocity();
+}
+
+//==============================================================================
+void Entity::dirtyVelocity()
 {
   mNeedVelocityUpdate = true;
 
@@ -161,6 +173,12 @@ bool Entity::needsVelocityUpdate() const
 
 //==============================================================================
 void Entity::notifyAccelerationUpdate()
+{
+  dirtyAcceleration();
+}
+
+//==============================================================================
+void Entity::dirtyAcceleration()
 {
   mNeedAccelerationUpdate = true;
 
@@ -242,7 +260,7 @@ void Entity::changeParentFrame(Frame* _newParentFrame)
       mParentFrame->mChildEntities.insert(this);
       mParentFrame->processNewEntity(this);
     }
-    notifyTransformUpdate();
+    dirtyTransform();
   }
 
   if(mParentFrame)