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Fix the way we retrieve the transform for the sensors #79

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merged 1 commit into from
Feb 29, 2024
Merged

Fix the way we retrieve the transform for the sensors #79

merged 1 commit into from
Feb 29, 2024

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Nicogene
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This allows to export a sensor with a frame not specified in exportedFrames. It fixes #77.

@Nicogene Nicogene self-assigned this Feb 15, 2024
@Nicogene Nicogene mentioned this pull request Feb 15, 2024
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@mfussi66
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Neat! LGTM.

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Nicogene commented Feb 21, 2024 •
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Before merging I need to address the case in which the frame is exported with an additionalTransformation, both for sensors and FT sensors

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Fix the way we retrieve the transform for the sensors
5227483 
This allows to export a sensor with a frame not specified in exportedFrames. It fixes #77.
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@mfussi66 I added the handling of the additionalTransformation, the two functions for getting the transformation of the sensor and ftsensor are very similar, we can think to a refactoring to Sensorizer in the future:

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@mfussi66
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@mfussi66 I added the handling of the additionalTransformation, the two functions for getting the transformation of the sensor and ftsensor are very similar, we can think to a refactoring to Sensorizer in the future:

* [CREO2URDF – Refactor Sensorizer class #80](https://github.com/icub-tech-iit/creo2urdf/issues/80)

Makes sense, maybe even review the YAML schema so it is more similar between sensors?

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This fix has been validated 🎉

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@Nicogene Nicogene merged commit e4419a6 into master Feb 29, 2024
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@Nicogene Nicogene deleted the fix/77 branch February 29, 2024 12:06
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Successfully merging this pull request may close these issues.

CREO2URDF – Wrong transform when exporting a sensors that uses a csys not present in exportedFrames list
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@Nicogene @mfussi66