Merge pull request #965 from ignitionrobotics/merge_9_12

Merge 9 -> 12
gazebosim · Apr 12, 2022 · c1afd7f · c1afd7f
2 parents a0b022d + 54310d0
commit c1afd7f
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Showing 2 changed files with 18 additions and 5 deletions.
diff --git a/src/ign.cc b/src/ign.cc
@@ -288,7 +288,6 @@ extern "C" SDFORMAT_VISIBLE int cmdInertialStats(
   if (!errors.empty())
   {
     std::cerr << errors << std::endl;
-    return -1;
   }
 
   if (root.WorldCount() > 0)
@@ -348,7 +347,7 @@ extern "C" SDFORMAT_VISIBLE int cmdInertialStats(
   ss << totalInertial.Moi();
 
   std::string s;
-  auto maxLength = 0u;
+  size_t maxLength = 0u;
   std::vector<std::string> moiVector;
   while ( std::getline(ss, s, ' ' ) )
   {
@@ -361,10 +360,10 @@ extern "C" SDFORMAT_VISIBLE int cmdInertialStats(
 
   for (int i = 0; i < 9; i++)
   {
-    int spacePadding = maxLength - moiVector[i].size();
+    size_t spacePadding = maxLength - moiVector[i].size();
     // Print the matrix element
     std::cout << moiVector[i];
-    for (int j = 0; j < spacePadding; j++)
+    for (size_t j = 0; j < spacePadding; j++)
     {
       std::cout << " ";
     }

diff --git a/src/ign_TEST.cc b/src/ign_TEST.cc
@@ -1839,7 +1839,21 @@ TEST(inertial_stats, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF))
   }
 
   expectedOutput =
-          "Error Code 18: Msg: A link named link has invalid inertia.\n\n";
+          "Error Code 18: Msg: A link named link has invalid inertia.\n\n"
+          "Inertial statistics for model: model\n"
+          "---\n"
+          "Total mass of the model: 0\n"
+          "---\n"
+          "Centre of mass in model frame: \n"
+          "X: 0\n"
+          "Y: 0\n"
+          "Z: 0\n"
+          "---\n"
+          "Moment of inertia matrix: \n"
+          "0  0  0  \n"
+          "0  0  0  \n"
+          "0  0  0  \n"
+          "---\n";
 
   // Check an invalid SDF file by passing the absolute path
   {