kdl_parser.hpp

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/* Author: Wim Meeussen */

#ifndef KDL_PARSER_H
#define KDL_PARSER_H

#include <kdl/tree.hpp>
#include <string>
#include <tinyxml.h>
#include <sdf/sdf.hh>
#include "urdf_model/model.h"
#include <kdl_parser/RobotModelFormat.hpp>

namespace kdl_parser{

bool treeFromFile(const std::string& file, KDL::Tree& tree, ROBOT_MODEL_FORMAT format = ROBOT_MODEL_URDF);

#if 0

bool treeFromParam(const std::string& param, KDL::Tree& tree);
#endif

bool treeFromString(const std::string& xml, KDL::Tree& tree, ROBOT_MODEL_FORMAT format = ROBOT_MODEL_URDF);

bool treeFromUrdfModel(const urdf::ModelInterface& robot_model, KDL::Tree& tree);

void treeFromSdfModel(const sdf::ElementPtr& sdf_model, KDL::Tree& out);
}

#endif