Move the frames in order that the axis pass through their origin

icub-tech-iit · Jul 22, 2024 · 44685fd · 44685fd
1 parent a4b61ed
commit 44685fd
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Showing 3 changed files with 9 additions and 2 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -12,7 +12,7 @@ include(GNUInstallDirs)
 include(FeatureSummary)
 
 find_package(Eigen3 REQUIRED)
-find_package(iDynTree 12.3.1 REQUIRED)
+find_package(iDynTree 12.4.0 REQUIRED)
 find_package(yaml-cpp REQUIRED)
 find_package(LibXml2 REQUIRED)
 

diff --git a/src/creo2urdf/CMakeLists.txt b/src/creo2urdf/CMakeLists.txt
@@ -69,6 +69,7 @@ add_compile_definitions(creo2urdf PUBLIC PRO_MACHINE=36
 # Link dependencies
 target_link_libraries(creo2urdf PRIVATE iDynTree::idyntree-modelio
  iDynTree::idyntree-high-level
+ iDynTree::idyntree-model
  yaml-cpp::yaml-cpp
  LibXml2::LibXml2
  Eigen3::Eigen

diff --git a/src/creo2urdf/src/Creo2Urdf.cpp b/src/creo2urdf/src/Creo2Urdf.cpp
@@ -13,6 +13,7 @@
 
 #include <iDynTree/PrismaticJoint.h>
 #include <iDynTree/EigenHelpers.h>
+#include <iDynTree/ModelTransformers.h>
 
 #include <Eigen/Core>
 
@@ -440,7 +441,12 @@ void Creo2Urdf::OnCommand() {
 bool Creo2Urdf::exportModelToUrdf(iDynTree::Model mdl, iDynTree::ModelExporterOptions options) {
  iDynTree::ModelExporter mdl_exporter;
 
- mdl_exporter.init(mdl);
+ // Convert modelToExport in a URDF-compatible model (using the default base link)
+ iDynTree::Model modelToExportURDFCompatible;
+
+ bool ok = iDynTree::moveLinkFramesToBeCompatibleWithURDFWithGivenBaseLink(mdl, modelToExportURDFCompatible);
+
+ mdl_exporter.init(modelToExportURDFCompatible);
  mdl_exporter.setExportingOptions(options);
 
  if (!mdl_exporter.isValid())