MPV2.5: refactor in order to remove the assumption of the single kin chain #36
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In this PR I refactored the code in order to remove the assumption of the single kin chain.
In particular, I populate the idyntree model in two separate steps.
First, the plugin iterates over all the parts, retrieves all the mass and kin properties of the links, and adds links to the idyntree model.
For what concern the joints instead, at this step, I am assuming that the first part that owns a specific axis is the parent link, and the second one will be the child link.
This is an approximation due to the fact right now I couldn't ask for this information from Creo.
After this iteration over all parts, I start adding the joints using the informations retrieved the previous step and voila, for the case of 1 kin chain (MVP2) it works flawlessly:
cc @traversaro @pattacini @mfussi66 @fiorisi