Fix GetEngineVersion implementation to match const reference return type

j-rivero · j-rivero · commit 8fb70964eb63 · 2026-01-13T19:27:53.000+01:00
The header was changed to return const reference, but the implementation
files still returned by value, causing compilation errors. This commit
updates all implementations to use static const variables and return
references to them, matching the new signature.

Generated-by: Claude Opus 4.5
Signed-off-by: Jose Luis Rivero &lt;jrivero@honurobotics.com&gt;
diff --git a/bullet-featherstone/src/EntityManagementFeatures.cc b/bullet-featherstone/src/EntityManagementFeatures.cc
@@ -305,12 +305,13 @@ const std::string &EntityManagementFeatures::GetEngineName(
   return engineName;
 }
 
-gz::math::SemanticVersion EntityManagementFeatures::GetEngineVersion(
+const gz::math::SemanticVersion &EntityManagementFeatures::GetEngineVersion(
   const Identity &) const
 {
   // BT_BULLET_VERSION is an integer like 324 representing version 3.24
   int ver = BT_BULLET_VERSION;
-  return gz::math::SemanticVersion(ver / 100, ver % 100);
+  static const gz::math::SemanticVersion version(ver / 100, ver % 100);
+  return version;
 }
 
 /////////////////////////////////////////////////
diff --git a/bullet-featherstone/src/EntityManagementFeatures.hh b/bullet-featherstone/src/EntityManagementFeatures.hh
@@ -52,7 +52,7 @@ class EntityManagementFeatures :
   public: const std::string &GetEngineName(
       const Identity &_engineID) const override;
 
-  public: gz::math::SemanticVersion GetEngineVersion(
+  public: const gz::math::SemanticVersion &GetEngineVersion(
       const Identity &_engineID) const override;
 
   public: std::size_t GetEngineIndex(
diff --git a/bullet/src/EntityManagementFeatures.cc b/bullet/src/EntityManagementFeatures.cc
@@ -119,12 +119,13 @@ const std::string &EntityManagementFeatures::GetEngineName(
   return engineName;
 }
 
-gz::math::SemanticVersion EntityManagementFeatures::GetEngineVersion(
+const gz::math::SemanticVersion &EntityManagementFeatures::GetEngineVersion(
   const Identity &) const
 {
   // BT_BULLET_VERSION is an integer like 324 representing version 3.24
   int ver = BT_BULLET_VERSION;
-  return gz::math::SemanticVersion(ver / 100, ver % 100);
+  static const gz::math::SemanticVersion version(ver / 100, ver % 100);
+  return version;
 }
 
 std::size_t EntityManagementFeatures::GetEngineIndex(const Identity &) const
diff --git a/bullet/src/EntityManagementFeatures.hh b/bullet/src/EntityManagementFeatures.hh
@@ -65,7 +65,7 @@ class EntityManagementFeatures :
 
   // ----- Get entities -----
   public: const std::string &GetEngineName(const Identity &) const override;
-  public: gz::math::SemanticVersion GetEngineVersion(
+  public: const gz::math::SemanticVersion &GetEngineVersion(
       const Identity &) const override;
   public: std::size_t GetEngineIndex(const Identity &) const override;
 
diff --git a/dartsim/src/EntityManagementFeatures.cc b/dartsim/src/EntityManagementFeatures.cc
@@ -137,11 +137,14 @@ const std::string &EntityManagementFeatures::GetEngineName(
 }
 
 /////////////////////////////////////////////////
-gz::math::SemanticVersion EntityManagementFeatures::GetEngineVersion(
+const gz::math::SemanticVersion &EntityManagementFeatures::GetEngineVersion(
     const Identity &/*_engineID*/) const
 {
-  gz::math::SemanticVersion version;
-  version.Parse(DART_VERSION);
+  static const gz::math::SemanticVersion version = [](){
+    gz::math::SemanticVersion v;
+    v.Parse(DART_VERSION);
+    return v;
+  }();
   return version;
 }
 
diff --git a/dartsim/src/EntityManagementFeatures.hh b/dartsim/src/EntityManagementFeatures.hh
@@ -52,7 +52,7 @@ class GZ_PHYSICS_DARTSIM_PLUGIN_VISIBLE EntityManagementFeatures :
   // ----- Get entities -----
   public: const std::string &GetEngineName(const Identity &) const override;
 
-  public: gz::math::SemanticVersion GetEngineVersion(
+  public: const gz::math::SemanticVersion &GetEngineVersion(
       const Identity &) const override;
 
   public: std::size_t GetEngineIndex(const Identity &) const override;
diff --git a/examples/hello_world_plugin/HelloWorldPlugin.cc b/examples/hello_world_plugin/HelloWorldPlugin.cc
@@ -58,10 +58,11 @@ namespace mock
       return this->engineName;
     }
 
-    public: gz::math::SemanticVersion GetEngineVersion(
+    public: const gz::math::SemanticVersion &GetEngineVersion(
         const Identity &/*_id*/) const override
     {
-      return gz::math::SemanticVersion(1, 0);
+      static const gz::math::SemanticVersion version(1, 0);
+      return version;
     }
 
     std::string engineName;
diff --git a/include/gz/physics/GetEntities.hh b/include/gz/physics/GetEntities.hh
@@ -53,7 +53,7 @@ namespace gz
         public: virtual const std::string &GetEngineName(
             const Identity &_engineID) const = 0;
 
-        public: virtual gz::math::SemanticVersion GetEngineVersion(
+        public: virtual const gz::math::SemanticVersion &GetEngineVersion(
             const Identity &_engineID) const = 0;
 
         public: virtual std::size_t GetEngineIndex(
diff --git a/include/gz/physics/detail/GetEntities.hh b/include/gz/physics/detail/GetEntities.hh
@@ -36,7 +36,7 @@ namespace gz
 
     /////////////////////////////////////////////////
     template <typename PolicyT, typename FeaturesT>
-    gz::math::SemanticVersion
+    const gz::math::SemanticVersion &
     GetEngineInfo::Engine<PolicyT, FeaturesT>::GetVersion() const
     {
       return this->template Interface<GetEngineInfo>()
diff --git a/test/plugins/DARTDoublePendulum.cc b/test/plugins/DARTDoublePendulum.cc
@@ -216,10 +216,11 @@ namespace mock
         return name;
       }
 
-      public: gz::math::SemanticVersion GetEngineVersion(
+      public: const gz::math::SemanticVersion &GetEngineVersion(
           const Identity &/*_engineID*/) const override
       {
-        return gz::math::SemanticVersion(1, 0);
+        static const gz::math::SemanticVersion version(1, 0);
+        return version;
       }
 
       public: std::size_t GetEngineIndex(
diff --git a/tpe/plugin/src/EntityManagementFeatures.cc b/tpe/plugin/src/EntityManagementFeatures.cc
@@ -32,11 +32,12 @@ const std::string &EntityManagementFeatures::GetEngineName(
   return engineName;
 }
 
-gz::math::SemanticVersion EntityManagementFeatures::GetEngineVersion(
+const gz::math::SemanticVersion &EntityManagementFeatures::GetEngineVersion(
   const Identity &) const
 {
   // TPE versioning is internal to gz-physics, set the version here
-  return gz::math::SemanticVersion(1, 0);
+  static const gz::math::SemanticVersion version(1, 0);
+  return version;
 }
 
 /////////////////////////////////////////////////
diff --git a/tpe/plugin/src/EntityManagementFeatures.hh b/tpe/plugin/src/EntityManagementFeatures.hh
@@ -54,7 +54,7 @@ class EntityManagementFeatures :
   // ----- Get entities -----
   public: const std::string &GetEngineName(const Identity &) const override;
 
-  public: gz::math::SemanticVersion GetEngineVersion(
+  public: const gz::math::SemanticVersion &GetEngineVersion(
       const Identity &) const override;
 
   public: std::size_t GetEngineIndex(const Identity &) const override;

Original file line number	Diff line number	Diff line change
`@@ -305,12 +305,13 @@ const std::string &EntityManagementFeatures::GetEngineName(`
`305`	`305`	`return engineName;`
`306`	`306`	`}`
`307`	`307`
`308`		`-gz::math::SemanticVersion EntityManagementFeatures::GetEngineVersion(`
	`308`	`+const gz::math::SemanticVersion &EntityManagementFeatures::GetEngineVersion(`
`309`	`309`	`const Identity &) const`
`310`	`310`	`{`
`311`	`311`	`// BT_BULLET_VERSION is an integer like 324 representing version 3.24`
`312`	`312`	`int ver = BT_BULLET_VERSION;`
`313`		`- return gz::math::SemanticVersion(ver / 100, ver % 100);`
	`313`	`+ static const gz::math::SemanticVersion version(ver / 100, ver % 100);`
	`314`	`+ return version;`
`314`	`315`	`}`
`315`	`316`
`316`	`317`	`/////////////////////////////////////////////////`
Original file line number	Diff line number	Diff line change
`@@ -119,12 +119,13 @@ const std::string &EntityManagementFeatures::GetEngineName(`
`119`	`119`	`return engineName;`
`120`	`120`	`}`
`121`	`121`
`122`		`-gz::math::SemanticVersion EntityManagementFeatures::GetEngineVersion(`
	`122`	`+const gz::math::SemanticVersion &EntityManagementFeatures::GetEngineVersion(`
`123`	`123`	`const Identity &) const`
`124`	`124`	`{`
`125`	`125`	`// BT_BULLET_VERSION is an integer like 324 representing version 3.24`
`126`	`126`	`int ver = BT_BULLET_VERSION;`
`127`		`- return gz::math::SemanticVersion(ver / 100, ver % 100);`
	`127`	`+ static const gz::math::SemanticVersion version(ver / 100, ver % 100);`
	`128`	`+ return version;`
`128`	`129`	`}`
`129`	`130`
`130`	`131`	`std::size_t EntityManagementFeatures::GetEngineIndex(const Identity &) const`
Original file line number	Diff line number	Diff line change
`@@ -137,11 +137,14 @@ const std::string &EntityManagementFeatures::GetEngineName(`
`137`	`137`	`}`
`138`	`138`
`139`	`139`	`/////////////////////////////////////////////////`
`140`		`-gz::math::SemanticVersion EntityManagementFeatures::GetEngineVersion(`
	`140`	`+const gz::math::SemanticVersion &EntityManagementFeatures::GetEngineVersion(`
`141`	`141`	`const Identity &/_engineID/) const`
`142`	`142`	`{`
`143`		`- gz::math::SemanticVersion version;`
`144`		`- version.Parse(DART_VERSION);`
	`143`	`+ static const gz::math::SemanticVersion version = [](){`
	`144`	`+ gz::math::SemanticVersion v;`
	`145`	`+ v.Parse(DART_VERSION);`
	`146`	`+ return v;`
	`147`	`+ }();`
`145`	`148`	`return version;`
`146`	`149`	`}`
`147`	`150`
Original file line number	Diff line number	Diff line change
`@@ -58,10 +58,11 @@ namespace mock`
`58`	`58`	`return this->engineName;`
`59`	`59`	`}`
`60`	`60`
`61`		`- public: gz::math::SemanticVersion GetEngineVersion(`
	`61`	`+ public: const gz::math::SemanticVersion &GetEngineVersion(`
`62`	`62`	`const Identity &/_id/) const override`
`63`	`63`	`{`
`64`		`- return gz::math::SemanticVersion(1, 0);`
	`64`	`+ static const gz::math::SemanticVersion version(1, 0);`
	`65`	`+ return version;`
`65`	`66`	`}`
`66`	`67`
`67`	`68`	`std::string engineName;`
Original file line number	Diff line number	Diff line change
`@@ -36,7 +36,7 @@ namespace gz`
`36`	`36`
`37`	`37`	`/////////////////////////////////////////////////`
`38`	`38`	`template <typename PolicyT, typename FeaturesT>`
`39`		`- gz::math::SemanticVersion`
	`39`	`+ const gz::math::SemanticVersion &`
`40`	`40`	`GetEngineInfo::Engine<PolicyT, FeaturesT>::GetVersion() const`
`41`	`41`	`{`
`42`	`42`	`return this->template Interface<GetEngineInfo>()`
Original file line number	Diff line number	Diff line change
`@@ -216,10 +216,11 @@ namespace mock`
`216`	`216`	`return name;`
`217`	`217`	`}`
`218`	`218`
`219`		`- public: gz::math::SemanticVersion GetEngineVersion(`
	`219`	`+ public: const gz::math::SemanticVersion &GetEngineVersion(`
`220`	`220`	`const Identity &/_engineID/) const override`
`221`	`221`	`{`
`222`		`- return gz::math::SemanticVersion(1, 0);`
	`222`	`+ static const gz::math::SemanticVersion version(1, 0);`
	`223`	`+ return version;`
`223`	`224`	`}`
`224`	`225`
`225`	`226`	`public: std::size_t GetEngineIndex(`