ParserConfig: default to SAVE auto inertias

Change default value of ConfigureResolveAutoInertials to SAVE_CALCULATION to match previous API behavior. Signed-off-by: Steve Peters <[email protected]>
gazebosim · Sep 23, 2023 · 4b1112e · 4b1112e
1 parent ab438f3
commit 4b1112e
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Showing 4 changed files with 17 additions and 21 deletions.
diff --git a/src/Link.cc b/src/Link.cc
@@ -191,9 +191,9 @@ Errors Link::Load(ElementPtr _sdf, const ParserConfig &_config)
       {
         Error err(
           ErrorCode::WARNING,
-          "Inertial was used with auto=true for link, " +
-          this->dataPtr->name + " but user defined inertial values "
-          "were found. They would be overwritten by computed ones."
+          "Inertial was used with auto=true for the link named " +
+          this->dataPtr->name + ", but user-defined inertial values were "
+          "found, which will be overwritten by the computed inertial values."
         );
         enforceConfigurablePolicyCondition(
           _config.WarningsPolicy(), err, errors);
@@ -610,7 +610,8 @@ void Link::ResolveAutoInertials(sdf::Errors &_errors,
     {
       _errors.push_back({ErrorCode::ELEMENT_MISSING,
                         "Inertial is set to auto but there are no "
-                        "<collision> elements for the link."});
+                        "<collision> elements for the link named " +
+                        this->Name() + "."});
       return;
     }
 

diff --git a/src/Link_TEST.cc b/src/Link_TEST.cc
@@ -293,18 +293,13 @@ TEST(DOMLink, ResolveAutoInertialsWithNoCollisionsInLink)
   sdf::Root root;
   const sdf::ParserConfig sdfParserConfig;
   sdf::Errors errors = root.LoadSdfString(sdf, sdfParserConfig);
-  EXPECT_TRUE(errors.empty());
+  ASSERT_EQ(1u, errors.size()) << errors;
+  EXPECT_EQ(sdf::ErrorCode::ELEMENT_MISSING, errors[0].Code());
+  EXPECT_NE(std::string::npos,
+            errors[0].Message().find(
+                "Inertial is set to auto but there are no <collision> elements "
+                "for the link named link."));
   EXPECT_NE(nullptr, root.Element());
-
-  const sdf::Model *model = root.Model();
-  const sdf::Link *link = model->LinkByIndex(0);
-  root.ResolveAutoInertials(errors, sdfParserConfig);
-  ASSERT_FALSE(errors.empty());
-
-  // Default Inertial values set during load
-  EXPECT_EQ(1.0, link->Inertial().MassMatrix().Mass());
-  EXPECT_EQ(gz::math::Vector3d::One,
-    link->Inertial().MassMatrix().DiagonalMoments());
 }
 
 /////////////////////////////////////////////////

diff --git a/src/ParserConfig.cc b/src/ParserConfig.cc
@@ -45,10 +45,10 @@ class sdf::ParserConfig::Implementation
   public: std::optional<EnforcementPolicy> deprecatedElementsPolicy;
 
   /// \brief Configuration that is set for the CalculateInertial() function
-  /// By default it is set to SKIP_CALCULATION_IN_LOAD which would cause
-  /// Root::Load() to not call CalculateInertial()
+  /// By default it is set to SAVE_CALCULATION to preserve the behavior of
+  /// Root::Load() generating complete inertial information.
   public: ConfigureResolveAutoInertials resolveAutoInertialsConfig =
-    ConfigureResolveAutoInertials::SKIP_CALCULATION_IN_LOAD;
+    ConfigureResolveAutoInertials::SAVE_CALCULATION;
 
   /// \brief Collection of custom model parsers.
   public: std::vector<CustomModelParser> customParsers;

diff --git a/src/ParserConfig_TEST.cc b/src/ParserConfig_TEST.cc
@@ -57,11 +57,11 @@ TEST(ParserConfig, Construction)
   EXPECT_EQ(sdf::EnforcementPolicy::WARN, config.UnrecognizedElementsPolicy());
   EXPECT_EQ(sdf::EnforcementPolicy::WARN, config.DeprecatedElementsPolicy());
 
-  EXPECT_EQ(sdf::ConfigureResolveAutoInertials::SKIP_CALCULATION_IN_LOAD,
+  EXPECT_EQ(sdf::ConfigureResolveAutoInertials::SAVE_CALCULATION,
     config.CalculateInertialConfiguration());
   config.SetCalculateInertialConfiguration(
-    sdf::ConfigureResolveAutoInertials::SAVE_CALCULATION);
-  EXPECT_EQ(sdf::ConfigureResolveAutoInertials::SAVE_CALCULATION,
+    sdf::ConfigureResolveAutoInertials::SKIP_CALCULATION_IN_LOAD);
+  EXPECT_EQ(sdf::ConfigureResolveAutoInertials::SKIP_CALCULATION_IN_LOAD,
     config.CalculateInertialConfiguration());
   EXPECT_FALSE(config.URDFPreserveFixedJoint());
   EXPECT_FALSE(config.StoreResolvedURIs());