Fix const-correctness of the Model::JointByName and `Model::LinkByN…

…ame` APIs This has been a longstanding pet-peeve of mine and a todo in the code base. Unfortunately, this change likely breaks ABI and hence can only be done in a major release. Signed-off-by: Arjo Chakravarty <[email protected]>
gazebosim · Jul 28, 2023 · 4d8c788 · 4d8c788
1 parent dbebc39
commit 4d8c788
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Showing 2 changed files with 4 additions and 6 deletions.
diff --git a/include/gz/sim/Model.hh b/include/gz/sim/Model.hh
@@ -126,18 +126,16 @@ namespace gz
  /// \param[in] _ecm Entity-component manager.
  /// \param[in] _name Joint name.
  /// \return Joint entity.
- /// \todo(anyone) Make const
  public: sim::Entity JointByName(const EntityComponentManager &_ecm,
- const std::string &_name);
+ const std::string &_name) const;
 
  /// \brief Get the ID of a link entity which is an immediate child of
  /// this model.
  /// \param[in] _ecm Entity-component manager.
  /// \param[in] _name Link name.
  /// \return Link entity.
- /// \todo(anyone) Make const
  public: sim::Entity LinkByName(const EntityComponentManager &_ecm,
- const std::string &_name);
+ const std::string &_name) const;
 
  /// \brief Get all joints which are immediate children of this model.
  /// \param[in] _ecm Entity-component manager.

diff --git a/src/Model.cc b/src/Model.cc
@@ -130,7 +130,7 @@ std::string Model::SourceFilePath(const EntityComponentManager &_ecm) const
 
 //////////////////////////////////////////////////
 Entity Model::JointByName(const EntityComponentManager &_ecm,
- const std::string &_name)
+ const std::string &_name) const
 {
  return _ecm.EntityByComponents(
  components::ParentEntity(this->dataPtr->id),
@@ -140,7 +140,7 @@ Entity Model::JointByName(const EntityComponentManager &_ecm,
 
 //////////////////////////////////////////////////
 Entity Model::LinkByName(const EntityComponentManager &_ecm,
- const std::string &_name)
+ const std::string &_name) const
 {
  return _ecm.EntityByComponents(
  components::ParentEntity(this->dataPtr->id),