utils.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2012, Southwest Research Institute
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
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00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00031 
00032 #ifndef INDUSTRIAL_UTILS_H_
00033 #define INDUSTRIAL_UTILS_H_
00034 
00035 #include <vector>
00036 #include <string>
00037 #include "urdf/model.h"
00038 
00039 namespace industrial_utils
00040 {
00041 
00054 bool isSimilar(std::vector<std::string> lhs, std::vector<std::string> rhs);
00055 
00065 bool isSame(const std::vector<std::string> & lhs, const std::vector<std::string> & rhs);
00066 
00067 /*
00068  * \brief Returns joint names for a simple serial chain from a URDF tree
00069  *          - returns an error if branching tree is found
00070  *          - assumes chain runs root->leaf.  leaf->root->leaf chains not allowed.
00071  *
00072  * \param[in] link URDF model link to search from (e.g. model.getRoot())
00073  * \param[in] ignore_fixed flag to ignore fixed joints
00074  * \param[in,out] joint_names vector of joint names
00075  *
00076  * \return true if successful, false if error occurred (e.g. branching tree)
00077  */
00078 bool findChainJointNames(const boost::shared_ptr<const urdf::Link> &link, bool ignore_fixed,
00079                                  std::vector<std::string> &joint_names);
00080 
00081 } //industrial_utils
00082 
00083 #endif /* INDUSTRIAL_UTILS_H_ */


industrial_utils
Author(s): Shaun M. Edwards
autogenerated on Sat Jun 8 2019 20:43:21