Renamed InterfaceMOICalculator class to CustomInertiaCalcProperties

Signed-off-by: Jasmeet Singh <[email protected]>

include/sdf/InterafaceMoiCalculator.hh → include/sdf/CustomInertiaCalcProperties.hh

@@ -1,5 +1,5 @@
 /*
- * Copyright 2021 Open Source Robotics Foundation
+ * Copyright 2023 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -15,8 +15,8 @@
  *
  */
 
-#ifndef SDF_INTERFACE_MOI_CALCULATOR_HH_
-#define SDF_INTERFACE_MOI_CALCULATOR_HH_
+#ifndef SDF_CUSTOM_INERTIA_CALC_PROPERTIES_HH_
+#define SDF_CUSTOM_INERTIA_CALC_PROPERTIES_HH_
 
 #include <gz/utils/ImplPtr.hh>
 #include <gz/math/Inertial.hh>
@@ -33,13 +33,13 @@ inline namespace SDF_VERSION_NAMESPACE
 // Forward Declarations
 class Mesh;
 
-class SDFORMAT_VISIBLE InterfaceMoiCalculator
+class SDFORMAT_VISIBLE CustomInertiaCalcProperties
 {
   /// \brief Constructor
   /// \param[in] _density Double density value
   /// \param[in] _mesh sdf::Mesh object
   /// \param[in] _calculatorParamElem sdf::ElementPtr for calculator params element
-  public: InterfaceMoiCalculator(const double _density,
+  public: CustomInertiaCalcProperties(const double _density,
               const sdf::Mesh _mesh,
               const sdf::ElementPtr _calculatorParams);
 
@@ -62,19 +62,19 @@ class SDFORMAT_VISIBLE InterfaceMoiCalculator
   /// \brief Get the reference to the <moi_calculator_params> sdf element.
   /// User defined custom calculator params can be accessed through this element 
   /// \return sdf::ElementPtr for the tag
-  public: const sdf::ElementPtr MoiCalculatorParams() const;
+  public: const sdf::ElementPtr AutoInertiaParams() const;
 
   /// \brief Function to set the calculator params sdf element object 
   /// \param[in] _calculatorParamElem sdf::ElementPtr for calculator params element
-  public: void SetMoiCalculatorParams(sdf::ElementPtr _calculatorParamElem);
+  public: void SetAutoInertiaParams(sdf::ElementPtr _calculatorParamElem);
 
   /// \brief Private data pointer.
   GZ_UTILS_IMPL_PTR(dataPtr)
 };
 
 using CustomInertiaCalculator =
     std::function<std::optional<gz::math::Inertiald>(sdf::Errors &, 
-        const sdf::InterfaceMoiCalculator &)>;
+        const sdf::CustomInertiaCalcProperties &)>;
 }
 }
 

include/sdf/Mesh.hh

@@ -23,7 +23,7 @@
 #include <gz/math/Vector3.hh>
 #include <gz/math/Inertial.hh>
 #include <gz/utils/ImplPtr.hh>
-#include "sdf/InterafaceMoiCalculator.hh"
+#include <sdf/CustomInertiaCalcProperties.hh>
 #include <sdf/Element.hh>
 #include <sdf/Error.hh>
 #include <sdf/sdf_config.h>

include/sdf/ParserConfig.hh

@@ -27,7 +27,7 @@
 
 #include "sdf/Error.hh"
 #include "sdf/InterfaceElements.hh"
-#include "sdf/InterafaceMoiCalculator.hh"
+#include "sdf/CustomInertiaCalcProperties.hh"
 #include "sdf/sdf_config.h"
 #include "sdf/system_util.hh"
 

src/InterfaceMoiCalculator.cc → src/CustomInertiaCalcProperties.cc

@@ -1,5 +1,5 @@
 /*
- * Copyright 2021 Open Source Robotics Foundation
+ * Copyright 2023 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -15,13 +15,13 @@
  *
  */
 
-#include "sdf/InterafaceMoiCalculator.hh"
+#include "sdf/CustomInertiaCalcProperties.hh"
 #include "sdf/Mesh.hh"
 #include "sdf/Element.hh"
 
 using namespace sdf;
 
-class InterfaceMoiCalculator::Implementation
+class CustomInertiaCalcProperties::Implementation
 {
   /// \brief Density of the mesh
   public: double density;
@@ -31,45 +31,52 @@ class InterfaceMoiCalculator::Implementation
 
   /// \brief SDF element pointer to <moi_calculator_params> tag. This can be used 
   /// to access custom params for the Mesh Intertia Caluclator 
-  public: sdf::ElementPtr calculatorParams;
+  public: sdf::ElementPtr inertiaCalculatorParams;
 };
 
-InterfaceMoiCalculator::InterfaceMoiCalculator(const double _density,
+/////////////////////////////////////////////////
+CustomInertiaCalcProperties::CustomInertiaCalcProperties(const double _density,
     const sdf::Mesh _mesh,
     const sdf::ElementPtr _calculatorParams)
     : dataPtr(gz::utils::MakeImpl<Implementation>())
 {
   this->dataPtr->density = _density;
   this->dataPtr->mesh = _mesh;
-  this->dataPtr->calculatorParams = _calculatorParams;
+  this->dataPtr->inertiaCalculatorParams = _calculatorParams;
 }
 
-const double InterfaceMoiCalculator::Density() const
+/////////////////////////////////////////////////
+const double CustomInertiaCalcProperties::Density() const
 {
   return this->dataPtr->density;
 }
 
-void InterfaceMoiCalculator::SetDensity(const double _density)
+/////////////////////////////////////////////////
+void CustomInertiaCalcProperties::SetDensity(const double _density)
 {
   this->dataPtr->density = _density;
 }
 
-const sdf::Mesh &InterfaceMoiCalculator::Mesh() const
+/////////////////////////////////////////////////
+const sdf::Mesh &CustomInertiaCalcProperties::Mesh() const
 {
   return this->dataPtr->mesh;
 }
 
-void InterfaceMoiCalculator::SetMesh(sdf::Mesh &_mesh)
+/////////////////////////////////////////////////
+void CustomInertiaCalcProperties::SetMesh(sdf::Mesh &_mesh)
 {
   this->dataPtr->mesh = _mesh;
 }
 
-const sdf::ElementPtr InterfaceMoiCalculator::MoiCalculatorParams() const
+/////////////////////////////////////////////////
+const sdf::ElementPtr CustomInertiaCalcProperties::AutoInertiaParams() const
 {
-  return this->dataPtr->calculatorParams;
+  return this->dataPtr->inertiaCalculatorParams;
 }
 
-void InterfaceMoiCalculator::SetMoiCalculatorParams(sdf::ElementPtr _calculatorParams)
+/////////////////////////////////////////////////
+void CustomInertiaCalcProperties::SetAutoInertiaParams(sdf::ElementPtr _autoInertiaParams)
 {
-  this->dataPtr->calculatorParams = _calculatorParams;
+  this->dataPtr->inertiaCalculatorParams = _autoInertiaParams;
 }

src/Mesh.cc

@@ -18,7 +18,7 @@
 #include <optional>
 
 #include <gz/math/Inertial.hh>
-#include "sdf/InterafaceMoiCalculator.hh"
+#include "sdf/CustomInertiaCalcProperties.hh"
 #include "sdf/parser.hh"
 #include "sdf/Mesh.hh"
 #include "Utils.hh"
@@ -206,7 +206,7 @@ std::optional<gz::math::Inertiald> Mesh::CalculateInertial(const double _density
   std::cout << "In Mesh:CalculateInertial function: " << std::endl;
   const auto &customCalculator = _config.CustomInertiaCalc();
 
-  sdf::InterfaceMoiCalculator calcInterface = InterfaceMoiCalculator(
+  sdf::CustomInertiaCalcProperties calcInterface = CustomInertiaCalcProperties(
     _density, *this, _autoInertiaParams);
 
   return customCalculator(errors, calcInterface);

src/ParserConfig.cc

@@ -20,7 +20,7 @@
 #include "sdf/ParserConfig.hh"
 #include "sdf/Filesystem.hh"
 #include "sdf/Types.hh"
-#include "sdf/InterafaceMoiCalculator.hh"
+#include "sdf/CustomInertiaCalcProperties.hh"
 
 using namespace sdf;