warn default density if mass is not specified

Signed-off-by: Ian Chen <[email protected]>
gazebosim · Dec 14, 2024 · 2509d55 · 2509d55
1 parent 2d466af
commit 2509d55
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Showing 3 changed files with 27 additions and 5 deletions.
diff --git a/include/sdf/Collision.hh b/include/sdf/Collision.hh
@@ -170,12 +170,15 @@ namespace sdf
     /// \param[in] _autoInertiaParams An ElementPtr to the auto_inertia_params
     /// element to be used if the auto_inertia_params have not been set in this
     /// collision.
+    /// \param[in] _warnIfDensityIsUnset True to generate a warning that
+    /// the default density value will be used if it is not explicitly set.
     public: void CalculateInertial(
                     sdf::Errors &_errors,
                     gz::math::Inertiald &_inertial,
                     const ParserConfig &_config,
                     const std::optional<double> &_density,
-                    sdf::ElementPtr _autoInertiaParams);
+                    sdf::ElementPtr _autoInertiaParams,
+                    bool _warnIfDensityIsUnset = true);
 
     /// \brief Get a pointer to the SDF element that was used during
     /// load.

diff --git a/src/Collision.cc b/src/Collision.cc
@@ -272,7 +272,8 @@ void Collision::CalculateInertial(
   gz::math::Inertiald &_inertial,
   const ParserConfig &_config,
   const std::optional<double> &_density,
-  sdf::ElementPtr _autoInertiaParams)
+  sdf::ElementPtr _autoInertiaParams,
+  bool _warnIfDensityIsUnset)
 {
   // Order of precedence for density:
   double density;
@@ -292,7 +293,20 @@ void Collision::CalculateInertial(
   else
   {
     // If density was not explicitly set, default value is used
+    // Send a warning about the default value being used if needed
     density = DensityDefault();
+    if (_warnIfDensityIsUnset)
+    {
+      Error densityMissingErr(
+        ErrorCode::ELEMENT_MISSING,
+        "Collision is missing a <density> child element. "
+        "Using a default density value of " +
+        std::to_string(DensityDefault()) + " kg/m^3. "
+      );
+      enforceConfigurablePolicyCondition(
+        _config.WarningsPolicy(), densityMissingErr, _errors
+      );
+    }
   }
 
   // If this Collision's auto inertia params have not been set, then use the

diff --git a/src/Link.cc b/src/Link.cc
@@ -669,20 +669,25 @@ void Link::ResolveAutoInertials(sdf::Errors &_errors,
       return;
     }
 
+    auto inertialElem = this->dataPtr->sdf->GetElement("inertial");
+    bool massSpecified = inertialElem->HasElement("mass");
+    // Warn about using default collision density value if mass is not specified
+    bool warnUseDefaultDensity = !massSpecified;
+
     gz::math::Inertiald totalInertia;
 
     for (sdf::Collision &collision : this->dataPtr->collisions)
     {
       gz::math::Inertiald collisionInertia;
       collision.CalculateInertial(_errors, collisionInertia, _config,
                                   this->dataPtr->density,
-                                  this->dataPtr->autoInertiaParams);
+                                  this->dataPtr->autoInertiaParams,
+                                  warnUseDefaultDensity);
       totalInertia = totalInertia + collisionInertia;
     }
 
     // If mass is specified, scale inertia to match desired mass
-    auto inertialElem = this->dataPtr->sdf->GetElement("inertial");
-    if (inertialElem->HasElement("mass"))
+    if (massSpecified)
     {
       double mass = inertialElem->Get<double>("mass");
       const gz::math::MassMatrix3d &totalMassMatrix = totalInertia.MassMatrix();