check_kdl_parser.cpp
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00034 
00035 /* Author: Wim Meeussen */
00036 
00037 #include "kdl_parser/kdl_parser.hpp"
00038 #include <kdl/chainfksolverpos_recursive.hpp>
00039 #include <kdl/frames_io.hpp>
00040 #include <urdf/model.h>
00041 #include <iostream>
00042 
00043 using namespace KDL;
00044 using namespace std;
00045 using namespace urdf;
00046 
00047 void printLink(const SegmentMap::const_iterator& link, const std::string& prefix)
00048 {
00049   cout << prefix << "- Segment " << GetTreeElementSegment(link->second).getName() << " has "
00050        << GetTreeElementChildren(link->second).size() << " children" << endl;
00051   for (unsigned int i=0; i < GetTreeElementChildren(link->second).size(); i++)
00052       printLink(GetTreeElementChildren(link->second)[i], prefix + "  ");
00053 }
00054 
00055 
00056 int main(int argc, char** argv)
00057 {
00058   if (argc < 2){
00059     std::cerr << "Expect xml file to parse" << std::endl;
00060     return -1;
00061   }
00062   Model robot_model;
00063   if (!robot_model.initFile(argv[1]))
00064   {cerr << "Could not generate robot model" << endl; return false;}
00065 
00066   Tree my_tree;
00067   if (!kdl_parser::treeFromUrdfModel(robot_model, my_tree)) 
00068   {cerr << "Could not extract kdl tree" << endl; return false;}
00069 
00070   // walk through tree
00071   cout << " ======================================" << endl;
00072   cout << " Tree has " << my_tree.getNrOfSegments() << " link(s) and a root link" << endl;
00073   cout << " ======================================" << endl;
00074   SegmentMap::const_iterator root = my_tree.getRootSegment();
00075   printLink(root, "");
00076 }
00077 
00078 


kdl_parser
Author(s): Wim Meeussen
autogenerated on Thu Aug 27 2015 14:41:08