Lint

Signed-off-by: Michael Carroll <[email protected]>
gazebosim · Jan 11, 2023 · 8c9fc92 · 8c9fc92
1 parent 30d6b26
commit 8c9fc92
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Showing 3 changed files with 24 additions and 6 deletions.
diff --git a/dartsim/src/AddedMassFeatures.cc b/dartsim/src/AddedMassFeatures.cc
@@ -72,11 +72,13 @@ void AddedMassFeatures::SetLinkAddedMass(const Identity &_link,
   }
 }
 
-gz::math::Matrix6d AddedMassFeatures::GetLinkAddedMass(const Identity &_link) const
+gz::math::Matrix6d
+AddedMassFeatures::GetLinkAddedMass(const Identity &_link) const
 {
   auto linkInfo = this->ReferenceInterface<LinkInfo>(_link);
 
-  if (linkInfo->inertial.has_value() && linkInfo->inertial->FluidAddedMass().has_value())
+  if (linkInfo->inertial.has_value() &&
+      linkInfo->inertial->FluidAddedMass().has_value())
   {
     return linkInfo->inertial->FluidAddedMass().value();
   }

diff --git a/dartsim/src/AddedMassFeatures.hh b/dartsim/src/AddedMassFeatures.hh
@@ -36,7 +36,8 @@ class AddedMassFeatures :
   public: void SetLinkAddedMass(const Identity &_link,
                                 const gz::math::Matrix6d &_addedMass) override;
 
-  public: gz::math::Matrix6d GetLinkAddedMass(const Identity &_link) const override;
+  public: gz::math::Matrix6d GetLinkAddedMass(
+              const Identity &_link) const override;
 };
 }  // namespace gz::physics::dartsim
 

diff --git a/dartsim/src/AddedMassFeatures_TEST.cc b/dartsim/src/AddedMassFeatures_TEST.cc
@@ -130,7 +130,7 @@ TEST(AddedMassFeatures, AddedMass)
   ASSERT_EQ(3u, dartWorld->getNumSkeletons());
 
   {
-    const dart::dynamics::SkeletonPtr skeleton = dartWorld->getSkeleton("body_no_added_mass");
+    const auto skeleton = dartWorld->getSkeleton("body_no_added_mass");
     ASSERT_NE(skeleton, nullptr);
 
     ASSERT_EQ(1u, skeleton->getNumBodyNodes());
@@ -139,10 +139,15 @@ TEST(AddedMassFeatures, AddedMass)
 
     const Eigen::Matrix6d spatialInertia = link->getSpatialInertia();
     ASSERT_TRUE(expectedZeroSpatialInertia.isApprox(spatialInertia));
+
+    const auto linkAddedMass =
+      world->GetModel("body_no_added_mass")->GetLink("link")->GetAddedMass();
+    ASSERT_TRUE(Eigen::Matrix6d::Zero().isApprox(
+          gz::math::eigen3::convert(linkAddedMass)));
   }
 
   {
-    const dart::dynamics::SkeletonPtr skeleton = dartWorld->getSkeleton("body_zero_added_mass");
+    const auto skeleton = dartWorld->getSkeleton("body_zero_added_mass");
     ASSERT_NE(skeleton, nullptr);
 
     ASSERT_EQ(1u, skeleton->getNumBodyNodes());
@@ -151,10 +156,15 @@ TEST(AddedMassFeatures, AddedMass)
 
     const Eigen::Matrix6d spatialInertia = link->getSpatialInertia();
     ASSERT_TRUE(expectedZeroSpatialInertia.isApprox(spatialInertia));
+
+    auto linkAddedMass =
+      world->GetModel("body_zero_added_mass")->GetLink("link")->GetAddedMass();
+    ASSERT_TRUE(Eigen::Matrix6d::Zero().isApprox(
+          gz::math::eigen3::convert(linkAddedMass)));
   }
 
   {
-    const dart::dynamics::SkeletonPtr skeleton = dartWorld->getSkeleton("body_added_mass");
+    const auto skeleton = dartWorld->getSkeleton("body_added_mass");
     ASSERT_NE(skeleton, nullptr);
 
     ASSERT_EQ(1u, skeleton->getNumBodyNodes());
@@ -163,5 +173,10 @@ TEST(AddedMassFeatures, AddedMass)
 
     const Eigen::Matrix6d spatialInertia = link->getSpatialInertia();
     ASSERT_TRUE(expectedSpatialInertia.isApprox(spatialInertia));
+
+    auto linkAddedMass =
+      world->GetModel("body_added_mass")->GetLink("link")->GetAddedMass();
+    ASSERT_FALSE(Eigen::Matrix6d::Zero().isApprox(
+          gz::math::eigen3::convert(linkAddedMass)));
   }
 }