Manage links and joints via ID #123

Nicogene · 2025-04-03T14:17:17Z

It fixes #104

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Summary of Changes

This pull request addresses issue #104 and focuses on managing links and joints using their IDs within the Creo2Urdf converter. The core change involves modifying the populateExportedFrameInfoMap and addMeshAndExport functions to accept a LinkInfo object instead of a pfcModel_ptr and a separate mesh transform string. This allows these functions to access all necessary information about a link (name, handle, transforms) through a single object, improving code organization and readability.

Highlights

Refactoring: The populateExportedFrameInfoMap and addMeshAndExport functions are refactored to accept a LinkInfo object instead of separate arguments.
Data Encapsulation: The LinkInfo struct is used to encapsulate all relevant information about a link, simplifying function signatures and improving code clarity.
Mesh Export: The mesh export functionality is updated to use the LinkInfo object to access the model handle and transform information.

Changelog

src/creo2urdf/include/creo2urdf/Creo2Urdf.h
- Modified populateExportedFrameInfoMap to accept LinkInfo& instead of pfcModel_ptr.
- Modified addMeshAndExport to accept LinkInfo& instead of pfcModel_ptr and const std::string& mesh_transform.
src/creo2urdf/src/Creo2Urdf.cpp
- Removed commented-out debug print statement.
- Modified processAsmItems to pass LinkInfo to populateExportedFrameInfoMap and addMeshAndExport.
- Modified populateExportedFrameInfoMap to use LinkInfo to access link name and model handle.
- Modified addMeshAndExport to use LinkInfo to access model handle and link frame name for mesh export.

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Code Review

The pull request addresses issue #104 by managing links and joints via ID. The changes involve modifying the Creo2Urdf class to use LinkInfo objects instead of pfcModel_ptr for managing link information. This approach seems reasonable and should improve code clarity and maintainability. However, there are a few areas that could be improved, as detailed below.

Summary of Findings

Redundant link_info_map lookup: In populateExportedFrameInfoMap, the link_info is already available as an argument, but the code still performs a lookup in link_info_map. This is redundant and can be simplified.
Inconsistent parameter passing: The addMeshAndExport function was modified to accept LinkInfo instead of pfcModel_ptr and mesh_transform. However, the mesh_transform parameter was replaced with link_info.link_frame_name, which might not be the intended behavior if mesh_transform was meant to represent a different transform.

Merge Readiness

The pull request introduces significant changes that require careful review. While the overall approach seems sound, the identified issues should be addressed before merging. I am unable to directly approve this pull request, and recommend that others review and approve this code before merging. Specifically, the redundant link_info_map lookup and the potentially incorrect parameter passing in addMeshAndExport should be investigated and corrected. It is recommended that this pull request not be merged until these issues are addressed.

gemini-code-assist · 2025-04-03T14:17:36Z

src/creo2urdf/src/Creo2Urdf.cpp

+                link_info.modelhdl->Export(mesh_file_name.c_str(), pfcExportInstructions::cast(pfcSTLBinaryExportInstructions().Create(link_info.link_frame_name.c_str())));
            }
            else if(meshFormat =="stl_ascii") {
-                component_handle->Export(mesh_file_name.c_str(), pfcExportInstructions::cast(pfcSTLASCIIExportInstructions().Create(mesh_transform.c_str())));
+                link_info.modelhdl->Export(mesh_file_name.c_str(), pfcExportInstructions::cast(pfcSTLASCIIExportInstructions().Create(link_info.link_frame_name.c_str())));


The original code used mesh_transform.c_str() here. Now it's using link_info.link_frame_name.c_str(). Are you sure this is the correct transform to pass? It seems like mesh_transform might have been intended to be different from link_info.link_frame_name. Please confirm that this change is intentional and correct.

Suggested change

link_info.modelhdl->Export(mesh_file_name.c_str(), pfcExportInstructions::cast(pfcSTLBinaryExportInstructions().Create(link_info.link_frame_name.c_str())));

}

else if(meshFormat =="stl_ascii") {

component_handle->Export(mesh_file_name.c_str(), pfcExportInstructions::cast(pfcSTLASCIIExportInstructions().Create(mesh_transform.c_str())));

link_info.modelhdl->Export(mesh_file_name.c_str(), pfcExportInstructions::cast(pfcSTLASCIIExportInstructions().Create(link_info.link_frame_name.c_str())));

link_info.modelhdl->Export(mesh_file_name.c_str(), pfcExportInstructions::cast(pfcSTLBinaryExportInstructions().Create(mesh_transform.c_str())));

}

else if(meshFormat =="stl_ascii") {

link_info.modelhdl->Export(mesh_file_name.c_str(), pfcExportInstructions::cast(pfcSTLASCIIExportInstructions().Create(mesh_transform.c_str())));

The name was misleading, it is actually a frame name

gemini-code-assist · 2025-04-03T14:17:37Z

src/creo2urdf/src/Creo2Urdf.cpp

            bool ret{ false };
            iDynTree::Transform csys_H_additionalFrame {iDynTree::Transform::Identity()};
            iDynTree::Transform csys_H_linkFrame {iDynTree::Transform::Identity()};


The link_info is already passed as an argument to this function. Accessing it again via link_info_map.at(link_name) is redundant and less efficient. Consider removing this line and using the passed-in link_info directly.

Suggested change

bool ret{ false };

iDynTree::Transform csys_H_additionalFrame {iDynTree::Transform::Identity()};

iDynTree::Transform csys_H_linkFrame {iDynTree::Transform::Identity()};

auto& exported_frame_info = exported_frame_info_map.at(csys_name);

bool ret{ false };

Isn't what I am doing?

gemini-code-assist bot reviewed Apr 3, 2025

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gemini-code-assist bot suggested changes Apr 3, 2025

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Nicogene mentioned this pull request Apr 3, 2025

Add the possibility to handle assemblies that have parts with the same name #104

Open

Nicogene force-pushed the feat/allowlinksamename branch from e3cc52a to 22bbc41 Compare April 4, 2025 13:07

refactor for using l_info

1d97696

Nicogene force-pushed the feat/allowlinksamename branch from 22bbc41 to 1d97696 Compare April 8, 2025 09:23

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Manage links and joints via ID #123

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Manage links and joints via ID #123

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Summary of Changes

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