Functions
bool	addChildrenToTree (urdf::LinkConstSharedPtr root, Tree &tree)
Vector	toKdl (urdf::Vector3 v)
Rotation	toKdl (urdf::Rotation r)
Frame	toKdl (urdf::Pose p)
Joint	toKdl (urdf::JointSharedPtr jnt)
RigidBodyInertia	toKdl (urdf::InertialSharedPtr 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::ModelInterface &robot_model, KDL::Tree &tree)
bool	treeFromXml (TiXmlDocument *xml_doc, KDL::Tree &tree)

Function Documentation

bool kdl_parser::addChildrenToTree	(	urdf::LinkConstSharedPtr	root,
		Tree &	tree
	)

Definition at line 128 of file kdl_parser.cpp.

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

Definition at line 50 of file kdl_parser.cpp.

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

Definition at line 56 of file kdl_parser.cpp.

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

Definition at line 62 of file kdl_parser.cpp.

Joint kdl_parser::toKdl ( urdf::JointSharedPtr jnt )

Definition at line 68 of file kdl_parser.cpp.

RigidBodyInertia kdl_parser::toKdl ( urdf::InertialSharedPtr i )

Definition at line 97 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 156 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 163 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 173 of file kdl_parser.cpp.

bool kdl_parser::treeFromUrdfModel	(	const urdf::ModelInterface &	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 191 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 180 of file kdl_parser.cpp.

Functions