Fix N-DoF state effector getter assertions#1419
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Update the getTranslatingBody() assertion to use the linear translation effector's translating-body count instead of the spinning-body-only degree-of-freedom member. Add the required release note snippet and known-issues entry for the source-build fix.
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Correct the linear translation N-DoF getter assertion to use the linear effector body count instead of the spinning-body-only degree of freedom member. Also tighten the spinning body N-DoF getter assertion to reject the first out-of-range zero-based index. Update the release note snippet and known issues entry for both getter assertion fixes.
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Looks good, nice catch and fix by you and Carlo!
Update the getTranslatingBody() assertion to use the linear translation effector's translating-body count instead of the spinning-body-only degree-of-freedom member. Add the required release note snippet and known-issues entry for the source-build fix.
Correct the linear translation N-DoF getter assertion to use the linear effector body count instead of the spinning-body-only degree of freedom member. Also tighten the spinning body N-DoF getter assertion to reject the first out-of-range zero-based index. Update the release note snippet and known issues entry for both getter assertion fixes.
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Update the getTranslatingBody() assertion to use the linear translation effector's translating-body count instead of the spinning-body-only degree-of-freedom member. Add the required release note snippet and known-issues entry for the source-build fix.
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Description
Fixes invalid assertions in the N-DoF state effector getter methods.
The linear translation N-DoF getter assertion referenced
numberOfDegreesOfFreedom, which belongs to the spinning-body N-DoF effector and is not a member ofLinearTranslationNDOFStateEffector. This caused source builds with assertions enabled to fail at compile time.While checking similar state effectors, the spinning-body N-DoF getter was found to have a related zero-based bounds issue:
index == numberOfDegreesOfFreedompassed the assertion even though the subsequent vector access is out of range. This PR updates both getter assertions to use strict zero-based bounds.Verification
Validated with focused module builds:
.venv/bin/cmake --build dist3 --target linearTranslationNDOFStateEffector -- -j2.venv/bin/cmake --build dist3 --target spinningBodyNDOFStateEffector -- -j2Validated with focused unit tests:
MPLBACKEND=Agg MPLCONFIGDIR=/private/tmp/mpl .venv/bin/pytest -q src/simulation/dynamics/linearTranslationalBodies/linearTranslationBodiesNDOF/_UnitTest/test_changeParameterslinearTranslatingBodyNDOF.py src/simulation/dynamics/linearTranslationalBodies/linearTranslationBodiesNDOF/_UnitTest/test_linearTranslationNDOFStateEffector.py src/simulation/dynamics/spinningBodies/spinningBodiesNDOF/_UnitTest/test_changeParametersSpinningBodyNDOF.py src/simulation/dynamics/spinningBodies/spinningBodiesNDOF/_UnitTest/test_spinningBodyNDOFStateEffector.pyResult:
8 passed.No tests were added because this is a compile/configuration-sensitive assertion fix. Existing tests already exercise the valid getter paths; the original issue appears only when assertions are compiled in.
Documentation
Added/updated PR metadata documentation:
docs/source/Support/bskReleaseNotesSnippets/docs/source/Support/bskKnownIssues.rstFuture work
N/A