Added non-const accessors for Model child objects

[nkoenig]

Signed-off-by: Nate Koenig nate@openrobotics.org

🎉 New feature

Summary

Similar to #838. This adds non-const accessors to the Model class.

Test it

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Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

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[codecov-commenter]

Codecov Report

Merging #839 (cf74751) into sdf12 (eed1aa9) will increase coverage by 0.00%.
The diff coverage is 100.00%.

@@           Coverage Diff           @@
##            sdf12     #839   +/-   ##
=======================================
  Coverage   90.76%   90.77%           
=======================================
  Files          78       78           
  Lines       12535    12547   +12     
=======================================
+ Hits        11378    11390   +12     
  Misses       1157     1157           

Impacted Files	Coverage Δ
src/Model.cc	92.23% <100.00%> (+0.24%)	⬆️

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[azeey]

Looks good overall. I noticed that you didn't add a mutatable version of Model::FrameByIndex and Model::FrameByName. Is that intentional?

[nkoenig]

that you did

Yeah, I'm not as familiar with Frames, and wasn't sure if it was safe to add mutable versions of these. If it is, then I can add them.

[azeey]

that you did

Yeah, I'm not as familiar with Frames, and wasn't sure if it was safe to add mutable versions of these. If it is, then I can add them.

Mutating them is just safe/unsafe is everything else. The frame graph has to be updated (now with Root::UpdateGraphs) for pose/frame resolution to work properly after any mutation of DOM objects that affects their name, pose, or frame attachment/kinematics.

[nkoenig]

Frame mutators have been added in 4acd1eb

[azeey]

LGTM! Just a few minor comments

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1