Functions
bool	addChildrenToTree (boost::shared_ptr< const urdf::Link > root, Tree &tree)
Vector	toKdl (urdf::Vector3 v)
Rotation	toKdl (urdf::Rotation r)
Frame	toKdl (urdf::Pose p)
Joint	toKdl (boost::shared_ptr< urdf::Joint > jnt)
RigidBodyInertia	toKdl (boost::shared_ptr< urdf::Inertial > i)
bool	treeFromFile (const std::string &file, KDL::Tree &tree)
bool	treeFromFile (const string &file, Tree &tree)
bool	treeFromParam (const std::string &param, KDL::Tree &tree)
bool	treeFromParam (const string &param, Tree &tree)
bool	treeFromString (const std::string &xml, KDL::Tree &tree)
bool	treeFromString (const string &xml, Tree &tree)
bool	treeFromUrdfModel (const urdf::Model &robot_model, KDL::Tree &tree)
bool	treeFromXml (TiXmlDocument *xml_doc, KDL::Tree &tree)

Function Documentation

bool kdl_parser::addChildrenToTree	(	boost::shared_ptr< const urdf::Link >	root,
		Tree &	tree
	)

Definition at line 104 of file kdl_parser.cpp.

Vector kdl_parser::toKdl ( urdf::Vector3 v )

Definition at line 48 of file kdl_parser.cpp.

Rotation kdl_parser::toKdl ( urdf::Rotation r )

Definition at line 54 of file kdl_parser.cpp.

Frame kdl_parser::toKdl ( urdf::Pose p )

Definition at line 60 of file kdl_parser.cpp.

Joint kdl_parser::toKdl ( boost::shared_ptr< urdf::Joint > jnt )

Definition at line 66 of file kdl_parser.cpp.

RigidBodyInertia kdl_parser::toKdl ( boost::shared_ptr< urdf::Inertial > i )

Definition at line 95 of file kdl_parser.cpp.

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

Constructs a KDL tree from a file, given the file name

Parameters:

file	The filename from where to read the xml
tree	The resulting KDL Tree returns true on success, false on failure

bool kdl_parser::treeFromFile	(	const string &	file,
		Tree &	tree
	)

Definition at line 132 of file kdl_parser.cpp.

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

Constructs a KDL tree from the parameter server, given the parameter name

Parameters:

param	the name of the parameter on the parameter server
tree	The resulting KDL Tree returns true on success, false on failure

bool kdl_parser::treeFromParam	(	const string &	param,
		Tree &	tree
	)

Definition at line 139 of file kdl_parser.cpp.

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

Constructs a KDL tree from a string containing xml

Parameters:

xml	A string containting the xml description of the robot
tree	The resulting KDL Tree returns true on success, false on failure

bool kdl_parser::treeFromString	(	const string &	xml,
		Tree &	tree
	)

Definition at line 149 of file kdl_parser.cpp.

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

Constructs a KDL tree from a URDF robot model

Parameters:

robot_model	The URDF robot model
tree	The resulting KDL Tree returns true on success, false on failure

Definition at line 167 of file kdl_parser.cpp.

Constructs a KDL tree from a TiXmlDocument

Parameters:

xml_doc	The TiXmlDocument containting the xml description of the robot
tree	The resulting KDL Tree returns true on success, false on failure

Definition at line 156 of file kdl_parser.cpp.

Functions