From a8fecfaa21648bb3eaedc8bc91e5767ace82d193 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 4 Oct 2021 20:56:37 +0200
Subject: [PATCH] Simplify if-else clauses

Improve extensibility (adding more sensors) by emloying an exclusive-if-and-final-else
strategy, utilizing a helper variable. This way we avoid augmenting the list in the
'sensor in [...]' tests.
---
 .../xacro/finger/distal/distal.urdf.xacro     | 55 ++++++++++---------
 .../hand/xacro/thumb/thdistal.gazebo.xacro    |  2 +-
 .../hand/xacro/thumb/thdistal.urdf.xacro      | 31 +++++++----
 3 files changed, 49 insertions(+), 39 deletions(-)

diff --git a/sr_description/hand/xacro/finger/distal/distal.urdf.xacro b/sr_description/hand/xacro/finger/distal/distal.urdf.xacro
index dd012ba6..a703f545 100644
--- a/sr_description/hand/xacro/finger/distal/distal.urdf.xacro
+++ b/sr_description/hand/xacro/finger/distal/distal.urdf.xacro
@@ -25,21 +25,22 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry name="${prefix}${link_prefix}distal_visual">
-          <xacro:unless value="${tip_sensor in ['bt_sp','eli']}">
-            <!-- Standard distal  -->
-            <mesh filename="package://sr_description/meshes/hand/F1.dae"
+          <!-- Do we need to instantiate the standard distal? -->
+          <xacro:property name="standard" value="true" />
+          <xacro:if value="${tip_sensor == 'eli'}">
+            <!-- Ellispoid distal  -->
+            <mesh filename="package://sr_description/meshes/hand/ellipsoids/distal_ellipsoid_visual.dae"
                   scale="0.001 0.001 0.001" />
-          </xacro:unless>
-          <xacro:if value="${tip_sensor in ['bt_sp','eli']}">
-            <xacro:if value="${tip_sensor == 'eli'}">
-              <!-- Ellispoid distal  -->
-              <mesh filename="package://sr_description/meshes/hand/ellipsoids/distal_ellipsoid_visual.dae"
-		    scale="0.001 0.001 0.001" />
-            </xacro:if>
-            <xacro:if value="${tip_sensor == 'bt_sp'}">
-              <!-- bt_sp distal  -->
-              <mesh filename="package://sr_description/meshes/hand/biotacs/sp.dae" />
-            </xacro:if>
+            <xacro:property name="standard" value="false" />
+          </xacro:if>
+          <xacro:if value="${tip_sensor == 'bt_sp'}">
+            <!-- bt_sp distal  -->
+            <mesh filename="package://sr_description/meshes/hand/biotacs/sp.dae" />
+            <xacro:property name="standard" value="false" />
+          </xacro:if>
+          <xacro:if value="${standard}">
+            <!-- Standard distal  -->
+            <mesh filename="package://sr_description/meshes/hand/F1.dae" scale="0.001 0.001 0.001" />
           </xacro:if>
         </geometry>
         <!-- <material name="Grey" /> -->
@@ -47,22 +48,24 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry name="${prefix}${link_prefix}distal_collision_geom">
-          <xacro:if value="${tip_sensor in ['bt_sp','eli']}">
-            <xacro:if value="${tip_sensor == 'eli'}">
-              <!-- Ellispoid distal  -->
-              <mesh filename="package://sr_description/meshes/hand/ellipsoids/distal_ellipsoid.dae"
-                    scale="0.001 0.001 0.001" />
-            </xacro:if>
-            <xacro:if value="${tip_sensor == 'bt_sp'}">
-              <!-- bt_sp distal  -->
-              <mesh filename="package://sr_description/meshes/hand/biotacs/sp.dae" />
-            </xacro:if>
+          <!-- Do we need to instantiate the standard distal? -->
+          <xacro:property name="standard" value="true" />
+          <xacro:if value="${tip_sensor == 'eli'}">
+            <!-- Ellispoid distal  -->
+            <mesh filename="package://sr_description/meshes/hand/ellipsoids/distal_ellipsoid.dae"
+                  scale="0.001 0.001 0.001" />
+            <xacro:property name="standard" value="false" />
           </xacro:if>
-          <xacro:unless value="${tip_sensor in ['bt_sp','eli']}">
+          <xacro:if value="${tip_sensor == 'bt_sp'}">
+            <!-- bt_sp distal  -->
+            <mesh filename="package://sr_description/meshes/hand/biotacs/sp.dae" />
+            <xacro:property name="standard" value="false" />
+          </xacro:if>
+          <xacro:if value="${standard}">
             <!-- Standard distal  -->
             <mesh filename="package://sr_description/meshes/hand/F1.dae"
                   scale="0.001 0.001 0.001" />
-          </xacro:unless>
+          </xacro:if>
         </geometry>
       </collision>
     </link>
diff --git a/sr_description/hand/xacro/thumb/thdistal.gazebo.xacro b/sr_description/hand/xacro/thumb/thdistal.gazebo.xacro
index d3581a27..4e86a73d 100644
--- a/sr_description/hand/xacro/thumb/thdistal.gazebo.xacro
+++ b/sr_description/hand/xacro/thumb/thdistal.gazebo.xacro
@@ -3,7 +3,7 @@
   <xacro:macro name="thdistal_gazebo" params="prefix:=^ tip_sensor:=^|std ns:=^|''">
     <!-- prefix can be anything but usually is "r_" or  "l_" for right and left hands distinction -->
     <gazebo reference="${prefix}thdistal">
-     <xacro:unless value="${'none' in tip_sensor}" >
+      <xacro:unless value="${'none' in tip_sensor}" >
         <sensor type="contact" name="${prefix}thdistal_contact">
           <always_on>1</always_on>
           <update_rate>1000.0</update_rate>
diff --git a/sr_description/hand/xacro/thumb/thdistal.urdf.xacro b/sr_description/hand/xacro/thumb/thdistal.urdf.xacro
index bc912554..f4d2a4d6 100644
--- a/sr_description/hand/xacro/thumb/thdistal.urdf.xacro
+++ b/sr_description/hand/xacro/thumb/thdistal.urdf.xacro
@@ -125,19 +125,23 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
         <visual>
           <origin xyz="0 0 0" rpy="0 0 0" />
           <geometry name="${prefix}thdistal_visual">
-            <xacro:unless value="${tip_sensor in ['bt_sp','eli']}">
-              <!-- Standard distal  -->
-              <mesh filename="package://sr_description/meshes/hand/TH1_z.dae"
-                    scale="0.001 0.001 0.001" />
-            </xacro:unless>
+            <!-- Do we need to instantiate the standard distal? -->
+            <xacro:property name="standard" value="true" />
             <xacro:if value="${tip_sensor == 'eli'}">
               <!-- Ellispoid distal  -->
               <mesh filename="package://sr_description/meshes/hand/ellipsoids/thdistal_ellipsoid_visual.dae"
-              scale="0.001 0.001 0.001" />
+                    scale="0.001 0.001 0.001" />
+              <xacro:property name="standard" value="false" />
             </xacro:if>
             <xacro:if value="${tip_sensor == 'bt_sp'}">
               <!-- bt sp distal  -->
               <mesh filename="package://sr_description/meshes/hand/biotacs/sp.dae" />
+              <xacro:property name="standard" value="false" />
+            </xacro:if>
+            <xacro:if value="${standard}">
+              <!-- Standard distal  -->
+              <mesh filename="package://sr_description/meshes/hand/TH1_z.dae"
+                    scale="0.001 0.001 0.001" />
             </xacro:if>
           </geometry>
           <material name="shadow_thmiddle_material">
@@ -147,19 +151,22 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
         <collision>
           <origin xyz="0 0 0" rpy="0 0 0" />
           <geometry name="${prefix}thmiddle_collision_geom">
-            <xacro:unless value="${tip_sensor in ['bt_sp','eli']}">
-              <!-- Standard distal  -->
-              <mesh filename="package://sr_description/meshes/hand/TH1_z.dae"
-                    scale="0.001 0.001 0.001" />
-            </xacro:unless>
+            <!-- Do we need to instantiate the standard distal? -->
+            <xacro:property name="standard" value="true" />
             <xacro:if value="${tip_sensor == 'eli'}">
               <!-- Ellispoid distal  -->
               <mesh filename="package://sr_description/meshes/hand/ellipsoids/thdistal_ellipsoid.dae"
-              scale="0.001 0.001 0.001" />
+                    scale="0.001 0.001 0.001" />
+              <xacro:property name="standard" value="false" />
             </xacro:if>
             <xacro:if value="${tip_sensor == 'bt_sp'}">
               <!-- bt sp distal  -->
               <mesh filename="package://sr_description/meshes/hand/biotacs/sp.dae" />
+              <xacro:property name="standard" value="false" />
+            </xacro:if>
+            <xacro:if value="${standard}">
+              <!-- Standard distal  -->
+              <mesh filename="package://sr_description/meshes/hand/TH1_z.dae" scale="0.001 0.001 0.001" />
             </xacro:if>
             <!-- <box size="0.015 0.015 0.015" /> -->
           </geometry>