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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 << " ";
00052 std::cout << "child(" << (count++)+1 << "): " << (*child)->name << std::endl;
00053
00054 printTree(*child,level);
00055 }
00056 else
00057 {
00058 for(int j=0;j<level;j++) std::cout << " ";
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
00081 std::cout << "---------- Successfully Parsed XML ---------------" << std::endl;
00082
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
00089 printTree(root_link);
00090 return 0;
00091 }
00092