check_urdf.cpp
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00002 * Software License Agreement (BSD License)
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00004 *  Copyright (c) 2008, Willow Garage, Inc.
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00007 *  Redistribution and use in source and binary forms, with or without
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00011 *   * Redistributions of source code must retain the above copyright
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00034 
00035 /* Author: Wim Meeussen */
00036 
00037 #include "urdf_parser/urdf_parser.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 xml file to parse" << std::endl;
00070     return -1;
00071   }
00072 
00073   std::string xml_string;
00074   std::fstream xml_file(argv[1], std::fstream::in);
00075   while ( xml_file.good() )
00076   {
00077     std::string line;
00078     std::getline( xml_file, line);
00079     xml_string += (line + "\n");
00080   }
00081   xml_file.close();
00082 
00083   boost::shared_ptr<ModelInterface> robot = parseURDF(xml_string);
00084   if (!robot){
00085     std::cerr << "ERROR: Model Parsing the xml failed" << std::endl;
00086     return -1;
00087   }
00088   std::cout << "robot name is: " << robot->getName() << std::endl;
00089 
00090   // get info from parser
00091   std::cout << "---------- Successfully Parsed XML ---------------" << std::endl;
00092   // get root link
00093   boost::shared_ptr<const Link> root_link=robot->getRoot();
00094   if (!root_link) return -1;
00095 
00096   std::cout << "root Link: " << root_link->name << " has " << root_link->child_links.size() << " child(ren)" << std::endl;
00097 
00098 
00099   // print entire tree
00100   printTree(root_link);
00101   return 0;
00102 }
00103 
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urdf_parser
Author(s): Wim Meeussen, John Hsu, Rosen Diankov
autogenerated on Mon Aug 19 2013 11:02:09