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robotology / idyntree

Multibody Dynamics Library designed for Free Floating Robots
BSD 3-Clause "New" or "Revised" License
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Fix support for PrismaticJoint in iDynTree::getRandomModel #1057

Closed traversaro closed 1 year ago

traversaro commented 1 year ago

The actual method was fixed accidentally with a direct push to master (see https://github.com/robotology/idyntree/commit/9c7f2b36a2505f132700744bfffb142728639a57), anyhow more fixes were necessary (for example, when passing noFixed argument no prismatic joint were generated), so this PR adds the necessary bits.

traversaro commented 1 year ago

Apparently InverseKinematics tests do not work with prismatic joints:

     92 - UnitTestInverseKinematics (Failed)
     93 - memcheck_UnitTestInverseKinematics (Failed)
     94 - UnitTestInverseKinematicsMatrixViewAndSpan (Failed)
     95 - memcheck_UnitTestInverseKinematicsMatrixViewAndSpan (Failed)
traversaro commented 1 year ago

Probably we just convert the old noFixedJoint to onlyRevolute, this should simplify the implementation and cover the old behaviour.