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Fix support for PrismaticJoint in iDynTree::getRandomModel #1057

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merged 3 commits into from
Mar 28, 2023
Merged

Fix support for PrismaticJoint in iDynTree::getRandomModel #1057

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edf5b3e
Fix support for PrismaticJoint in iDynTree::getRandomModel
traversaro Mar 22, 2023
1cca0de
Update CHANGELOG.md
traversaro Mar 22, 2023
9696ebd
Update ModelTestUtils.h
traversaro Mar 22, 2023
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5 changes: 5 additions & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,12 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

## [8.999.0] - 2023-03-05

### Fixed
- Fix export of `iDynTree::PrismaticJoint` in `iDynTree::getRandomModel` (https://github.com/robotology/idyntree/pull/1057).

### Changed

#### URDF XML parser change
The XML parser API has changed. Now an additional `XMLParserState` context object is propagated while parsing.
To catch logic errors (which are not pure XML errors that are currently caught by the parser itself) the `XMLParserState` contains a `bool` variable. Further logic can be added to the context state.

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11 changes: 7 additions & 4 deletions src/model/include/iDynTree/Model/ModelTestUtils.h
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Expand Up @@ -52,7 +52,7 @@ inline Link getRandomLink()
/**
* Add a random link with random model.
*/
inline void addRandomLinkToModel(Model & model, std::string parentLink, std::string newLinkName, bool noFixed=false)
inline void addRandomLinkToModel(Model & model, std::string parentLink, std::string newLinkName, bool onlyRevoluteJoints=false)
{
// Add Link
LinkIndex newLinkIndex = model.addLink(newLinkName,getRandomLink());
Expand All @@ -64,7 +64,10 @@ inline void addRandomLinkToModel(Model & model, std::string parentLink, std::str

int jointType = rand() % nrOfJointTypes;

if( noFixed ) jointType = 1;
if (onlyRevoluteJoints)
{
jointType = 1;
}

if( jointType == 0 )
{
Expand Down Expand Up @@ -147,7 +150,7 @@ inline Model getRandomModel(unsigned int nrOfJoints, size_t nrOfAdditionalFrames
return model;
}

inline Model getRandomChain(unsigned int nrOfJoints, size_t nrOfAdditionalFrames = 10, bool noFixed=false)
inline Model getRandomChain(unsigned int nrOfJoints, size_t nrOfAdditionalFrames = 10, bool onlyRevoluteJoints=false)
{
Model model;

Expand All @@ -158,7 +161,7 @@ inline Model getRandomChain(unsigned int nrOfJoints, size_t nrOfAdditionalFrames
{
std::string parentLink = linkName;
linkName = "link" + int2string(i);
addRandomLinkToModel(model,parentLink,linkName,noFixed);
addRandomLinkToModel(model,parentLink,linkName,onlyRevoluteJoints);
}

for(unsigned int i=0; i < nrOfAdditionalFrames; i++)
Expand Down