Model DOM: add accessor API's for nested models

Signed-off-by: Steve Peters <[email protected]>

Migration.md

@@ -45,6 +45,10 @@ but with improved human-readability..
  + const Frame \*FrameByIndex(const uint64\_t) const
  + const Frame \*FrameByName(const std::string &) const
  + bool FrameNameExists(const std::string &) const
+ + uint64\_t ModelCount() const
+ + const Model \*ModelByIndex(const uint64\_t) const
+ + const Model \*ModelByName(const std::string &) const
+ + bool ModelNameExists(const std::string &) const
  + sdf::SemanticPose SemanticPose() const
 
 1. **sdf/SDFImpl.hh**

include/sdf/Model.hh

@@ -198,6 +198,29 @@ namespace sdf
  /// \return True if there exists an explicit frame with the given name.
  public: bool FrameNameExists(const std::string &_name) const;
 
+ /// \brief Get the number of nested models.
+ /// \return Number of nested models contained in this Model object.
+ public: uint64_t ModelCount() const;
+
+ /// \brief Get a nested model based on an index.
+ /// \param[in] _index Index of the nested model. The index should be in the
+ /// range [0..ModelCount()).
+ /// \return Pointer to the model. Nullptr if the index does not exist.
+ /// \sa uint64_t ModelCount() const
+ public: const Model *ModelByIndex(const uint64_t _index) const;
+
+ /// \brief Get whether a nested model name exists.
+ /// \param[in] _name Name of the nested model to check.
+ /// \return True if there exists a nested model with the given name.
+ public: bool ModelNameExists(const std::string &_name) const;
+
+ /// \brief Get a nested model based on a name.
+ /// \param[in] _name Name of the nested model.
+ /// \return Pointer to the model. Nullptr if a model with the given name
+ /// does not exist.
+ /// \sa bool ModelNameExists(const std::string &_name) const
+ public: const Model *ModelByName(const std::string &_name) const;
+
  /// \brief Get the pose of the model. This is the pose of the model
  /// as specified in SDF (<model> <pose> ... </pose></model>), and is
  /// typically used to express the position and rotation of a model in a

src/Model.cc

@@ -67,6 +67,9 @@ class sdf::ModelPrivate
  /// \brief The frames specified in this model.
  public: std::vector<Frame> frames;
 
+ /// \brief The nested models specified in this model.
+ public: std::vector<Model> models;
+
  /// \brief The SDF element pointer used during load.
  public: sdf::ElementPtr sdf;
 
@@ -527,6 +530,46 @@ const Frame *Model::FrameByName(const std::string &_name) const
  return nullptr;
 }
 
+/////////////////////////////////////////////////
+uint64_t Model::ModelCount() const
+{
+ return this->dataPtr->models.size();
+}
+
+/////////////////////////////////////////////////
+const Model *Model::ModelByIndex(const uint64_t _index) const
+{
+ if (_index < this->dataPtr->models.size())
+ return &this->dataPtr->models[_index];
+ return nullptr;
+}
+
+/////////////////////////////////////////////////
+bool Model::ModelNameExists(const std::string &_name) const
+{
+ for (auto const &m : this->dataPtr->models)
+ {
+ if (m.Name() == _name)
+ {
+ return true;
+ }
+ }
+ return false;
+}
+
+/////////////////////////////////////////////////
+const Model *Model::ModelByName(const std::string &_name) const
+{
+ for (auto const &m : this->dataPtr->models)
+ {
+ if (m.Name() == _name)
+ {
+ return &m;
+ }
+ }
+ return nullptr;
+}
+
 /////////////////////////////////////////////////
 const Link *Model::CanonicalLink() const
 {