check_urdf.cpp
Go to the documentation of this file.00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Wim Meeussen */ 00036 00037 #include "urdf/model.h" 00038 #include <iostream> 00039 #include <fstream> 00040 00041 using namespace urdf; 00042 00043 void printTree(boost::shared_ptr<const Link> link,int level = 0) 00044 { 00045 level+=2; 00046 int count = 0; 00047 for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++) 00048 { 00049 if (*child) 00050 { 00051 for(int j=0;j<level;j++) std::cout << " "; //indent 00052 std::cout << "child(" << (count++)+1 << "): " << (*child)->name << std::endl; 00053 // first grandchild 00054 printTree(*child,level); 00055 } 00056 else 00057 { 00058 for(int j=0;j<level;j++) std::cout << " "; //indent 00059 std::cout << "root link: " << link->name << " has a null child!" << *child << std::endl; 00060 } 00061 } 00062 00063 } 00064 00065 00066 int main(int argc, char** argv) 00067 { 00068 if (argc < 2){ 00069 std::cerr << "Expect URDF or COLLADA xml file to parse" << std::endl; 00070 return -1; 00071 } 00072 00073 urdf::Model robot; 00074 if (!robot.initFile(argv[1])){ 00075 std::cerr << "ERROR: Model Parsing the xml failed" << std::endl; 00076 return -1; 00077 } 00078 std::cout << "robot name is: " << robot.getName() << std::endl; 00079 00080 // get info from parser 00081 std::cout << "---------- Successfully Parsed XML ---------------" << std::endl; 00082 // get root link 00083 boost::shared_ptr<const Link> root_link=robot.getRoot(); 00084 if (!root_link) return -1; 00085 00086 std::cout << "root Link: " << root_link->name << " has " << root_link->child_links.size() << " child(ren)" << std::endl; 00087 00088 // print entire tree 00089 printTree(root_link); 00090 return 0; 00091 } 00092