[parsers] URDF and YAML generation from ParserResult

The generated URDF/YAML models must be read with transformInertia = false becausethere is no way to recover the original rotation from the available data

src/parsers/CMakeLists.txt

@@ -19,7 +19,7 @@ endif()
 # CMake <= 3.5.0 needs at least one component to define Boost::boost
 add_project_dependency(Boost REQUIRED COMPONENTS system)
 
-set(SOURCES common.cpp urdf.cpp yaml.cpp)
+set(SOURCES common.cpp urdf.cpp to_urdf.cpp yaml.cpp to_yaml.cpp)
 set(HEADERS RBDyn/parsers/api.h RBDyn/parsers/common.h RBDyn/parsers/urdf.h RBDyn/parsers/yaml.h)
 
 add_library(RBDynParsers SHARED ${SOURCES} ${HEADERS})
@@ -39,3 +39,16 @@ install(
     RUNTIME DESTINATION "bin"
 )
 install(FILES ${HEADERS} DESTINATION ${INCLUDE_INSTALL_DESTINATION}/parsers)
+
+
+add_executable(urdf_yaml_converter urdf_yaml_conv.cpp)
+target_link_libraries(urdf_yaml_converter RBDyn::Parsers)
+set_target_properties(urdf_yaml_converter PROPERTIES COMPILE_FLAGS "-DRBDYN_PARSERS_EXPORTS")
+
+install(
+    TARGETS urdf_yaml_converter
+    EXPORT "${TARGETS_EXPORT_NAME}"
+    LIBRARY DESTINATION "lib"
+    ARCHIVE DESTINATION "lib"
+    RUNTIME DESTINATION "bin"
+)

src/parsers/RBDyn/parsers/urdf.h

@@ -67,6 +67,8 @@ RBDYN_PARSERS_DLLAPI ParserResult from_urdf_file(const std::string & file_path,
                                                  bool withVirtualLinks = true,
                                                  const std::string & sphericalSuffix = "_spherical");
 
+RBDYN_PARSERS_DLLAPI std::string to_urdf(const ParserResult & res);
+
 } // namespace parsers
 
 } // namespace rbd

src/parsers/RBDyn/parsers/yaml.h

@@ -109,6 +109,8 @@ RBDYN_PARSERS_DLLAPI ParserResult from_yaml_file(const std::string & file_path,
                                                  bool withVirtualLinks = true,
                                                  const std::string & sphericalSuffix = "_spherical");
 
+RBDYN_PARSERS_DLLAPI std::string to_yaml(const ParserResult & res);
+
 } // namespace parsers
 
 } // namespace rbd