Manage links and joints via ID

[Nicogene]

It fixes #104

[gemini-code-assist]

Hello @Nicogene, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

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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---

With IDs clear, links align,
Joints managed, a structure fine.
Code's design,
A clearer sign,
Of robots moving, truly divine.

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[gemini-code-assist]

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]

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())));

[Nicogene]

The name was misleading, it is actually a frame name

[gemini-code-assist]

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 };

[Nicogene]

Isn't what I am doing?