Renamed <moi_calculator_params> element to <auto_inertia_params>

Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>

include/sdf/Collision.hh

@@ -87,9 +87,16 @@ namespace sdf
     /// \param[in] _density Density of the collision.
     public: void SetDensity(double _density);
 
-    public: sdf::ElementPtr MoiCalulatorParams() const;
-
-    public: void SetMoiCalculatorParams(const sdf::ElementPtr _calculatorParams);
+    /// \brief Get the ElementPtr to the <auto_inertia_params> element
+    /// This element can be used as a parent element to hold user-defined
+    /// params for the custom moment of inertia calculator.
+    /// \return ElementPtr object for the <auto_inertia_params> element.
+    public: sdf::ElementPtr AutoInertiaParams() const;
+
+    /// \brief Function to set the auto inertia params using a 
+    /// sdf ElementPtr object
+    /// \param[in] _density Density of the collision.    
+    public: void SetAutoInertiaParams(const sdf::ElementPtr _autoInertiaParams);
 
     /// \brief Get a pointer to the collisions's geometry.
     /// \return The collision's geometry.

include/sdf/Geometry.hh

@@ -216,7 +216,7 @@ namespace sdf
     /// \return A std::optional with gz::math::Inertiald object or std::nullopt
     public: std::optional<gz::math::Inertiald>
             CalculateInertial(double _density, const ParserConfig &_config,
-                              sdf::ElementPtr _calculatorParams);
+                              sdf::ElementPtr _autoInertiaParams);
 
     /// \brief Get a pointer to the SDF element that was used during
     /// load.

include/sdf/Mesh.hh

@@ -112,7 +112,7 @@ namespace sdf
     /// \param[in] density Density of the mesh in kg/m^3
     /// \return A std::optional with gz::math::Inertiald object or std::nullopt
     public: std::optional<gz::math::Inertiald> CalculateInertial(const double _density, 
-        const sdf::ElementPtr _calculatorParams, const ParserConfig &_config);
+        const sdf::ElementPtr _autoInertiaParams, const ParserConfig &_config);
 
     /// \brief Get a pointer to the SDF element that was used during load.
     /// \return SDF element pointer. The value will be nullptr if Load has

sdf/1.11/collision.sdf

@@ -22,7 +22,7 @@
     </description>
   </element>
 
-  <element name="moi_calculator_params" required="0">
+  <element name="auto_inertia_params" required="0">
     <description>Parent tag to hold user-defined custom params for mesh inertia calculator</description>
   </element>
 

src/Collision.cc

@@ -51,7 +51,7 @@ class sdf::Collision::Implementation
   public: double density{1000.0};
 
   /// \brief SDF element pointer to <moi_calculator_params> tag
-  public: sdf::ElementPtr moiCalculatorParams;
+  public: sdf::ElementPtr autoInertiaParams;
 
   /// \brief The SDF element pointer used during load.
   public: sdf::ElementPtr sdf;
@@ -149,15 +149,15 @@ void Collision::SetDensity(double _density)
 }
 
 /////////////////////////////////////////////////
-sdf::ElementPtr Collision::MoiCalulatorParams() const
+sdf::ElementPtr Collision::AutoInertiaParams() const
 {
-  return this->dataPtr->moiCalculatorParams;
+  return this->dataPtr->autoInertiaParams;
 }
 
 /////////////////////////////////////////////////
-void Collision::SetMoiCalculatorParams(const sdf::ElementPtr _calculatorParams)
+void Collision::SetAutoInertiaParams(const sdf::ElementPtr _autoInertiaParams)
 {
-  this->dataPtr->moiCalculatorParams = _calculatorParams;
+  this->dataPtr->autoInertiaParams = _autoInertiaParams;
 }
 
 /////////////////////////////////////////////////
@@ -256,15 +256,15 @@ Errors Collision::CalculateInertial(gz::math::Inertiald &_inertial,
     );
   }
 
-  if (this->dataPtr->sdf->HasElement("moi_calculator_params"))
+  if (this->dataPtr->sdf->HasElement("auto_inertia_params"))
   {
-    this->dataPtr->moiCalculatorParams =
-      this->dataPtr->sdf->GetElement("moi_calculator_params");
+    this->dataPtr->autoInertiaParams =
+      this->dataPtr->sdf->GetElement("auto_inertia_params");
   }
 
   auto geomInertial =
     this->dataPtr->geom.CalculateInertial(this->dataPtr->density, _config, 
-                                          this->dataPtr->moiCalculatorParams);
+                                          this->dataPtr->autoInertiaParams);
 
   if (!geomInertial)
   {

src/Geometry.cc

@@ -310,7 +310,7 @@ void Geometry::SetPolylineShape(const std::vector<Polyline> &_polylines)
 }
 
 std::optional<gz::math::Inertiald> Geometry::CalculateInertial(
-  double _density, const ParserConfig &_config, sdf::ElementPtr _calculatorParams)
+  double _density, const ParserConfig &_config, sdf::ElementPtr _autoInertiaParams)
 {
   std::optional< gz::math::Inertiald > geomInertial;
 
@@ -332,7 +332,7 @@ std::optional<gz::math::Inertiald> Geometry::CalculateInertial(
       geomInertial = this->dataPtr->sphere->CalculateInertial(_density);
       break;
     case GeometryType::MESH:
-      geomInertial = this->dataPtr->mesh->CalculateInertial(_density, _calculatorParams, _config);
+      geomInertial = this->dataPtr->mesh->CalculateInertial(_density, _autoInertiaParams, _config);
       break;
     default:
       break;

src/Mesh.cc

@@ -194,7 +194,7 @@ void Mesh::SetCenterSubmesh(const bool _center)
 
 //////////////////////////////////////////////////
 std::optional<gz::math::Inertiald> Mesh::CalculateInertial(const double _density, 
-    const sdf::ElementPtr _calculatorParams, const ParserConfig &_config)
+    const sdf::ElementPtr _autoInertiaParams, const ParserConfig &_config)
 {
   sdf::Errors errors;
 
@@ -204,7 +204,7 @@ std::optional<gz::math::Inertiald> Mesh::CalculateInertial(const double _density
   const auto &customCalculator = _config.CustomMoiCalculator();
 
   sdf::InterfaceMoiCalculator calcInterface = InterfaceMoiCalculator(
-    _density, *this, _calculatorParams);
+    _density, *this, _autoInertiaParams);
 
   return customCalculator(errors, calcInterface);
 }