Added non-const accessors for Link child objects (#838)

* Added non-const accessors for child objects

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

* Remove helpers

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

Co-authored-by: Nate Koenig <nate@openrobotics.org>

Author: nkoenig

include/sdf/Link.hh

@@ -76,6 +76,13 @@ namespace sdf
     /// \sa uint64_t VisualCount() const
     public: const Visual *VisualByIndex(const uint64_t _index) const;
 
+    /// \brief Get a mutable visual based on an index.
+    /// \param[in] _index Index of the visual. The index should be in the
+    /// range [0..VisualCount()).
+    /// \return Pointer to the visual. Nullptr if the index does not exist.
+    /// \sa uint64_t VisualCount() const
+    public: Visual *VisualByIndex(uint64_t _index);
+
     /// \brief Get whether a visual name exists.
     /// \param[in] _name Name of the visual to check.
     /// \return True if there exists a visual with the given name.
@@ -86,6 +93,11 @@ namespace sdf
     /// \return Pointer to the visual. Nullptr if the name does not exist.
     public: const Visual *VisualByName(const std::string &_name) const;
 
+    /// \brief Get a mutable visual based on a name.
+    /// \param[in] _name Name of the visual.
+    /// \return Pointer to the visual. Nullptr if the name does not exist.
+    public: Visual *VisualByName(const std::string &_name);
+
     /// \brief Get the number of collisions.
     /// \return Number of collisions contained in this Link object.
     public: uint64_t CollisionCount() const;
@@ -97,6 +109,13 @@ namespace sdf
     /// \sa uint64_t CollisionCount() const
     public: const Collision *CollisionByIndex(const uint64_t _index) const;
 
+    /// \brief Get a mutable collision based on an index.
+    /// \param[in] _index Index of the collision. The index should be in the
+    /// range [0..CollisionCount()).
+    /// \return Pointer to the collision. Nullptr if the index does not exist.
+    /// \sa uint64_t CollisionCount() const
+    public: Collision *CollisionByIndex(uint64_t _index);
+
     /// \brief Get whether a collision name exists.
     /// \param[in] _name Name of the collision to check.
     /// \return True if there exists a collision with the given name.
@@ -107,6 +126,11 @@ namespace sdf
     /// \return Pointer to the collision. Nullptr if the name does not exist.
     public: const Collision *CollisionByName(const std::string &_name) const;
 
+    /// \brief Get a mutable collision based on a name.
+    /// \param[in] _name Name of the collision.
+    /// \return Pointer to the collision. Nullptr if the name does not exist.
+    public: Collision *CollisionByName(const std::string &_name);
+
     /// \brief Get the number of lights.
     /// \return Number of lights contained in this Link object.
     public: uint64_t LightCount() const;
@@ -118,6 +142,13 @@ namespace sdf
     /// \sa uint64_t LightCount() const
     public: const Light *LightByIndex(const uint64_t _index) const;
 
+    /// \brief Get a mutable light based on an index.
+    /// \param[in] _index Index of the light. The index should be in the
+    /// range [0..LightCount()).
+    /// \return Pointer to the light. Nullptr if the index does not exist.
+    /// \sa uint64_t LightCount() const
+    public: Light *LightByIndex(uint64_t _index);
+
     /// \brief Get whether a light name exists.
     /// \param[in] _name Name of the light to check.
     /// \return True if there exists a light with the given name.
@@ -128,6 +159,11 @@ namespace sdf
     /// \return Pointer to the light. Nullptr if the name does not exist.
     public: const Light *LightByName(const std::string &_name) const;
 
+    /// \brief Get a mutable light based on a name.
+    /// \param[in] _name Name of the light.
+    /// \return Pointer to the light. Nullptr if the name does not exist.
+    public: Light *LightByName(const std::string &_name);
+
     /// \brief Get the number of sensors.
     /// \return Number of sensors contained in this Link object.
     public: uint64_t SensorCount() const;
@@ -139,6 +175,13 @@ namespace sdf
     /// \sa uint64_t SensorCount() const
     public: const Sensor *SensorByIndex(const uint64_t _index) const;
 
+    /// \brief Get a mutable sensor based on an index.
+    /// \param[in] _index Index of the sensor. The index should be in the
+    /// range [0..SensorCount()).
+    /// \return Pointer to the sensor. Nullptr if the index does not exist.
+    /// \sa uint64_t SensorCount() const
+    public: Sensor *SensorByIndex(uint64_t _index);
+
     /// \brief Get whether a sensor name exists.
     /// \param[in] _name Name of the sensor to check.
     /// \return True if there exists a sensor with the given name.
@@ -151,6 +194,13 @@ namespace sdf
     /// \sa bool SensorNameExists(const std::string &_name) const
     public: const Sensor *SensorByName(const std::string &_name) const;
 
+    /// \brief Get a mutable sensor based on a name.
+    /// \param[in] _name Name of the sensor.
+    /// \return Pointer to the sensor. Nullptr if a sensor with the given name
+    ///  does not exist.
+    /// \sa bool SensorNameExists(const std::string &_name) const
+    public: Sensor *SensorByName(const std::string &_name);
+
     /// \brief Get the number of particle emitters.
     /// \return Number of particle emitters contained in this Link object.
     public: uint64_t ParticleEmitterCount() const;
@@ -164,6 +214,14 @@ namespace sdf
     public: const ParticleEmitter *ParticleEmitterByIndex(
                 const uint64_t _index) const;
 
+    /// \brief Get a mutable particle emitter based on an index.
+    /// \param[in] _index Index of the particle emitter.
+    /// The index should be in the range [0..ParticleEmitterCount()).
+    /// \return Pointer to the particle emitter. Nullptr if the index does
+    /// not exist.
+    /// \sa uint64_t ParticleEmitterCount() const
+    public: ParticleEmitter *ParticleEmitterByIndex(uint64_t _index);
+
     /// \brief Get whether a particle emitter name exists.
     /// \param[in] _name Name of the particle emitter to check.
     /// \return True if there exists a particle emitter with the given name.
@@ -177,6 +235,13 @@ namespace sdf
     public: const ParticleEmitter *ParticleEmitterByName(
                 const std::string &_name) const;
 
+    /// \brief Get a mutable particle emitter based on a name.
+    /// \param[in] _name Name of the particle emitter.
+    /// \return Pointer to the particle emitter. Nullptr if a particle emitter
+    /// with the given name does not exist.
+    /// \sa bool ParticleEmitterNameExists(const std::string &_name) const
+    public: ParticleEmitter *ParticleEmitterByName(const std::string &_name);
+
     /// \brief Get the inertial value for this link. The inertial object
     /// consists of the link's mass, a 3x3 rotational inertia matrix, and
     /// a pose for the inertial reference frame. The units for mass is

src/Link.cc

@@ -218,6 +218,13 @@ const Visual *Link::VisualByIndex(const uint64_t _index) const
   return nullptr;
 }
 
+/////////////////////////////////////////////////
+Visual *Link::VisualByIndex(uint64_t _index)
+{
+  return const_cast<Visual*>(
+      static_cast<const Link*>(this)->VisualByIndex(_index));
+}
+
 /////////////////////////////////////////////////
 bool Link::VisualNameExists(const std::string &_name) const
 {
@@ -245,6 +252,13 @@ const Collision *Link::CollisionByIndex(const uint64_t _index) const
   return nullptr;
 }
 
+/////////////////////////////////////////////////
+Collision *Link::CollisionByIndex(uint64_t _index)
+{
+  return const_cast<Collision*>(
+      static_cast<const Link*>(this)->CollisionByIndex(_index));
+}
+
 /////////////////////////////////////////////////
 bool Link::CollisionNameExists(const std::string &_name) const
 {
@@ -272,6 +286,13 @@ const Light *Link::LightByIndex(const uint64_t _index) const
   return nullptr;
 }
 
+/////////////////////////////////////////////////
+Light *Link::LightByIndex(uint64_t _index)
+{
+  return const_cast<Light*>(
+      static_cast<const Link*>(this)->LightByIndex(_index));
+}
+
 /////////////////////////////////////////////////
 bool Link::LightNameExists(const std::string &_name) const
 {
@@ -292,6 +313,13 @@ const Sensor *Link::SensorByIndex(const uint64_t _index) const
   return nullptr;
 }
 
+/////////////////////////////////////////////////
+Sensor *Link::SensorByIndex(uint64_t _index)
+{
+  return const_cast<Sensor*>(
+      static_cast<const Link*>(this)->SensorByIndex(_index));
+}
+
 /////////////////////////////////////////////////
 bool Link::SensorNameExists(const std::string &_name) const
 {
@@ -318,6 +346,13 @@ const Sensor *Link::SensorByName(const std::string &_name) const
   return nullptr;
 }
 
+/////////////////////////////////////////////////
+Sensor *Link::SensorByName(const std::string &_name)
+{
+  return const_cast<Sensor*>(
+      static_cast<const Link*>(this)->SensorByName(_name));
+}
+
 /////////////////////////////////////////////////
 uint64_t Link::ParticleEmitterCount() const
 {
@@ -332,6 +367,13 @@ const ParticleEmitter *Link::ParticleEmitterByIndex(const uint64_t _index) const
   return nullptr;
 }
 
+/////////////////////////////////////////////////
+ParticleEmitter *Link::ParticleEmitterByIndex(uint64_t _index)
+{
+  return const_cast<ParticleEmitter*>(
+      static_cast<const Link*>(this)->ParticleEmitterByIndex(_index));
+}
+
 /////////////////////////////////////////////////
 bool Link::ParticleEmitterNameExists(const std::string &_name) const
 {
@@ -359,6 +401,12 @@ const ParticleEmitter *Link::ParticleEmitterByName(
   return nullptr;
 }
 
+/////////////////////////////////////////////////
+ParticleEmitter *Link::ParticleEmitterByName(const std::string &_name)
+{
+  return const_cast<ParticleEmitter *>(
+      static_cast<const Link*>(this)->ParticleEmitterByName(_name));
+}
 
 /////////////////////////////////////////////////
 const ignition::math::Inertiald &Link::Inertial() const
@@ -455,10 +503,17 @@ const Visual *Link::VisualByName(const std::string &_name) const
   return nullptr;
 }
 
+/////////////////////////////////////////////////
+Visual *Link::VisualByName(const std::string &_name)
+{
+  return const_cast<Visual *>(
+      static_cast<const Link*>(this)->VisualByName(_name));
+}
+
 /////////////////////////////////////////////////
 const Collision *Link::CollisionByName(const std::string &_name) const
 {
-  for (auto const &c : this->dataPtr->collisions)
+  for (auto &c : this->dataPtr->collisions)
   {
     if (c.Name() == _name)
     {
@@ -468,6 +523,13 @@ const Collision *Link::CollisionByName(const std::string &_name) const
   return nullptr;
 }
 
+/////////////////////////////////////////////////
+Collision *Link::CollisionByName(const std::string &_name)
+{
+  return const_cast<Collision *>(
+      static_cast<const Link*>(this)->CollisionByName(_name));
+}
+
 /////////////////////////////////////////////////
 const Light *Link::LightByName(const std::string &_name) const
 {
@@ -481,6 +543,14 @@ const Light *Link::LightByName(const std::string &_name) const
   return nullptr;
 }
 
+/////////////////////////////////////////////////
+Light *Link::LightByName(const std::string &_name)
+{
+  return const_cast<Light *>(
+      static_cast<const Link*>(this)->LightByName(_name));
+
+}
+
 /////////////////////////////////////////////////
 sdf::ElementPtr Link::Element() const
 {