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 <urdf/model.h>


namespace kdl_parser{

bool treeFromFile(const std::string& file, KDL::Tree& tree);

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

bool treeFromString(const std::string& xml, KDL::Tree& tree);

bool treeFromXml(TiXmlDocument *xml_doc, KDL::Tree& tree);

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

#endif