kdl_parser: kdl_parser: check_kdl_parser.cpp Source File

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00034 
00035 /* Author: Wim Meeussen */
00036 
00037 #include <kdl/chainfksolverpos_recursive.hpp>
00038 #include <kdl/frames_io.hpp>
00039 #include "kdl_parser/kdl_parser.hpp"
00040 #include <iostream>
00041 
00042 using namespace KDL;
00043 using namespace std;
00044 using namespace urdf;
00045 
00046 void printLink(const SegmentMap::const_iterator& link, const std::string& prefix)
00047 {
00048   cout << prefix << "- Segment " << link->second.segment.getName() << " has " << link->second.children.size() << " children" << endl;
00049   for (unsigned int i=0; i<link->second.children.size(); i++)
00050     printLink(link->second.children[i], prefix + "  ");
00051 }
00052 
00053 
00054 
00055 int main(int argc, char** argv)
00056 {
00057   if (argc < 2){
00058     std::cerr << "Expect xml file to parse" << std::endl;
00059     return -1;
00060   }
00061   Model robot_model;
00062   if (!robot_model.initFile(argv[1]))
00063   {cerr << "Could not generate robot model" << endl; return false;}
00064 
00065   Tree my_tree;
00066   if (!kdl_parser::treeFromUrdfModel(robot_model, my_tree)) 
00067   {cerr << "Could not extract kdl tree" << endl; return false;}
00068 
00069   // walk through tree
00070   cout << " ======================================" << endl;
00071   cout << " Tree has " << my_tree.getNrOfSegments() << " link(s) and a root link" << endl;
00072   cout << " ======================================" << endl;
00073   SegmentMap::const_iterator root = my_tree.getRootSegment();
00074   printLink(root, "");
00075 }
00076 
00077