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RSDK-13547- dh params from urdf #629

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nfranczak wants to merge 8 commits into from
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RSDK-13547- dh params from urdf #629

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ab01d04
add urdf_to_dh_params
nfranczak Apr 27, 2026
288e9c6
add latex folder with pdf + add annotations to joint_axes_at_rest
nfranczak May 11, 2026
ac6af36
annotate build_dh_frames
nfranczak May 11, 2026
9ff0561
annotate common_normal + pick_base_x
nfranczak May 11, 2026
64ad32e
final comments
nfranczak May 11, 2026
83963c3
simpler
nfranczak May 11, 2026
dc1d667
pass ci
nfranczak May 11, 2026
d322808
Merge branch 'main' of github.com:viamrobotics/viam-cpp-sdk into 2026…
nfranczak May 11, 2026
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3 changes: 3 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -361,6 +361,7 @@ set(VIAMCPPSDK_GRPC_VERSION_MINIMUM 1.30.2)
set(VIAMCPPSDK_PROTOBUF_VERSION_MINIMUM 3.12.4)
set(VIAMCPPSDK_XTL_VERSION_MINIMUM 0.7.2)
set(VIAMCPPSDK_XTENSOR_VERSION_MINIMUM 0.24.3)
set(VIAMCPPSDK_EIGEN_VERSION_MINIMUM 3.3)

# Time to find `BOOST`.
if (VIAMCPPSDK_BUILD_TESTS)
Expand Down Expand Up @@ -503,6 +504,8 @@ FetchContent_Declare(

FetchContent_MakeAvailable(xtl xtensor)

find_package(Eigen3 ${VIAMCPPSDK_EIGEN_VERSION_MINIMUM} CONFIG REQUIRED)

# Pull in our subdirectories
add_subdirectory(src/viam)

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1 change: 1 addition & 0 deletions conanfile.py
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Expand Up @@ -70,6 +70,7 @@ def requirements(self):
self.requires(self._grpc_requires())
self.requires('protobuf/[>=3.17.1 <6.30.0]')
self.requires(self._xtensor_requires(), transitive_headers=True)
self.requires('eigen/[>=3.3.0]')

def build_requirements(self):
if self.options.offline_proto_generation:
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3 changes: 3 additions & 0 deletions src/viam/sdk/CMakeLists.txt
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Expand Up @@ -136,6 +136,7 @@ target_sources(viamsdk
module/service.cpp
module/private/data_consumer_query.cpp
referenceframe/frame.cpp
referenceframe/urdf_to_dh_params.cpp
registry/registry.cpp
resource/reconfigurable.cpp
resource/resource.cpp
Expand Down Expand Up @@ -217,6 +218,7 @@ target_sources(viamsdk
../../viam/sdk/module/service.hpp
../../viam/sdk/module/signal_manager.hpp
../../viam/sdk/referenceframe/frame.hpp
../../viam/sdk/referenceframe/urdf_to_dh_params.hpp
../../viam/sdk/registry/registry.hpp
../../viam/sdk/resource/reconfigurable.hpp
../../viam/sdk/resource/resource.hpp
Expand Down Expand Up @@ -306,6 +308,7 @@ target_link_libraries(viamsdk
PRIVATE ${VIAMCPPSDK_GRPC_LIBRARIES}
PRIVATE ${VIAMCPPSDK_PROTOBUF_LIBRARIES}
PRIVATE Threads::Threads
PRIVATE Eigen3::Eigen
)

# if the `viam_rust_utils` target exists then we should use it. If not then
Expand Down
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