Add export to urdf of joint dynamics: damping and static friction coefficients

src/model/src/RevoluteJoint.cpp

@@ -34,6 +34,7 @@ RevoluteJoint::RevoluteJoint():
     this->resetAxisBuffers();
     this->resetBuffers(0);
     this->disablePosLimits();
+    this->resetJointDynamics();
 }
 
 RevoluteJoint::RevoluteJoint(const LinkIndex _link1, const LinkIndex _link2,

src/model_io/codecs/include/private/JointElement.h

@@ -15,6 +15,8 @@
 
 #include <iDynTree/XMLElement.h>
 
+#include <iDynTree/Model/IJoint.h>
+
 #include <iDynTree/Core/Axis.h>
 #include <iDynTree/Core/Transform.h>
 
@@ -59,14 +61,14 @@ class iDynTree::JointElement : public iDynTree::XMLElement {
         double velocity;
     };
 
-    struct DyamicParams {
-        uint8_t jointDynamicsType;
+    struct JointDyamicsParams {
+        JointDynamicsType jointDynamicsType;
         double damping;
         double staticFriction;
     };
 
     std::shared_ptr<Limits> m_limits;
-    std::shared_ptr<DyamicParams> m_dynamic_params;
+    std::shared_ptr<JointDyamicsParams> m_dynamic_params;
 
 public:
     explicit JointElement(

src/model_io/codecs/src/JointElement.cpp

@@ -18,7 +18,6 @@
 #include <iDynTree/XMLAttribute.h>
 #include <iDynTree/XMLParser.h>
 
-#include <iDynTree/Model/IJoint.h>
 #include <iDynTree/Model/FixedJoint.h>
 #include <iDynTree/Model/PrismaticJoint.h>
 #include <iDynTree/Model/RevoluteJoint.h>
@@ -134,31 +133,33 @@ namespace iDynTree {
             return std::shared_ptr<XMLElement>(element);
 
         } else if (name == "dynamics") {
-            m_dynamic_params = std::make_shared<DyamicParams>();
+            m_dynamic_params = std::make_shared<JointDyamicsParams>();
             m_dynamic_params->jointDynamicsType = URDFJointDynamics;
             m_dynamic_params->damping = .0;
             m_dynamic_params->staticFriction = .0;
 
             // TODO: check how the defaults/required works
             XMLElement* element = new XMLElement(getParserState(), name);
-            element->setAttributeCallback([this](const std::unordered_map<std::string, std::shared_ptr<XMLAttribute>>& attributes) {
-                auto found = attributes.find("damping");
-                if (found != attributes.end()) {
-                    double value = 0;
-                    if (stringToDoubleWithClassicLocale(found->second->value(), value)) {
-                        m_dynamic_params->damping = value;
+            element->setAttributeCallback(
+                [this](const std::unordered_map<std::string, std::shared_ptr<XMLAttribute>>& attributes) {
+                    auto found = attributes.find("damping");
+                    if (found != attributes.end()) {
+                        double value = 0;
+                        if (stringToDoubleWithClassicLocale(found->second->value(), value)) {
+                            m_dynamic_params->damping = value;
+                        }
                     }
-                }
-                found = attributes.find("friction");
-                if (found != attributes.end()) {
-                    double value = 0;
-                    if (stringToDoubleWithClassicLocale(found->second->value(), value)) {
-                        m_dynamic_params->staticFriction = value;
+                    found = attributes.find("friction");
+                    if (found != attributes.end()) {
+                        double value = 0;
+                        if (stringToDoubleWithClassicLocale(found->second->value(), value)) {
+                            m_dynamic_params->staticFriction = value;
+                        }
                     }
-                }
-                return true;
-                });
-                return std::shared_ptr<XMLElement>(element);
+                    return true;
+                    }
+                );
+            return std::shared_ptr<XMLElement>(element);
         }
         return std::make_shared<XMLElement>(getParserState(), name);
     }
@@ -208,7 +209,7 @@ namespace iDynTree {
                 info.joint->setDamping(0, m_dynamic_params->damping);
                 info.joint->setStaticFriction(0, m_dynamic_params->staticFriction);
             }
-            
+
             if (!map->insert(std::unordered_map<std::string, JointElement::JointInfo>::value_type(m_jointName, info)).second) {
                 std::string errStr = "Duplicate joint " + m_jointName + " found.";
                 reportError("JointElement", "", errStr.c_str());

src/model_io/codecs/src/URDFModelExport.cpp

@@ -407,7 +407,6 @@ bool exportJoint(IJointConstPtr joint, LinkConstPtr parentLink, LinkConstPtr chi
 
     if (joint->getJointDynamicsType() == URDFJointDynamics && joint->getNrOfDOFs() == 1)
     {
-
         xmlNodePtr dynamics_xml = xmlNewChild(joint_xml, NULL, BAD_CAST "dynamics", NULL);
         std::string bufStr;
         double damping = 0.0, static_friction = 0.0;

src/model_io/codecs/tests/ModelExporterUnitTest.cpp

@@ -221,6 +221,7 @@ void testFramesNotInTraversal() {
 
 int main()
 {
+    // IDYNTREE_TESTS_URDFS_NR
     for(unsigned int mdl = 0; mdl < IDYNTREE_TESTS_URDFS_NR; mdl++ )
     {
         if (std::string(IDYNTREE_TESTS_URDFS[mdl]) == "bigman.urdf")