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Add tpelib::Shape::GetSize() and tpelib::Model::GetCanonicalLink() #45

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merged 2 commits into from
Apr 30, 2020
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Add tpelib::Shape::GetSize() and tpelib::Model::GetCanonicalLink() #45

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82f1be4
implement missing Shape::GetSize(), add Model::GetCanonicalLink()
Apr 29, 2020
d8155b7
add doxygen doc and GetSize() test case
Apr 29, 2020
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8 changes: 8 additions & 0 deletions tpe/lib/src/Model.cc
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Expand Up @@ -46,6 +46,14 @@ Entity &Model::AddLink()
return *it->second.get();
}

//////////////////////////////////////////////////
Entity &Model::GetCanonicalLink()
{
// return first link as canonical link
return *this->GetChildren().begin()->second;
}


//////////////////////////////////////////////////
void Model::SetLinearVelocity(const math::Vector3d _velocity)
{
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2 changes: 2 additions & 0 deletions tpe/lib/src/Model.hh
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Expand Up @@ -47,6 +47,8 @@ class IGNITION_PHYSICS_TPELIB_VISIBLE Model : public Entity
/// \return Newly created Link
public: Entity &AddLink();

public: Entity &GetCanonicalLink();
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can you add doxygen comment for this function?

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added https://github.com/ignitionrobotics/ign-physics/pull/45/files#diff-a2e564da4da991a87f531e647b213a9cR50-R52


/// \brief Set the linear velocity of model
/// \param[in] _velocity linear velocity
public: void SetLinearVelocity(const math::Vector3d _velocity);
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6 changes: 6 additions & 0 deletions tpe/lib/src/Shape.cc
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Expand Up @@ -84,6 +84,12 @@ void BoxShape::SetSize(const math::Vector3d &_size)
this->dirty = true;
}

//////////////////////////////////////////////////
math::Vector3d BoxShape::GetSize()
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can you add a simple check here in Shape_TEST.cc to test this function?

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added https://github.com/ignitionrobotics/ign-physics/pull/45/files#diff-b6ac34fb28f6fcdad5799d1f97124481R40

{
return this->size;
}

//////////////////////////////////////////////////
void BoxShape::UpdateBoundingBox()
{
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