urdf_geometry_parser.h

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#ifndef URDF_GEOMETRY_PARSER_URDF_GEOMETRY_PARSER_H
#define URDF_GEOMETRY_PARSER_URDF_GEOMETRY_PARSER_H

#include <ros/ros.h>

#include <urdf/urdfdom_compatibility.h>
#include <urdf_parser/urdf_parser.h>

namespace urdf_geometry_parser {

class UrdfGeometryParser {

public:
  UrdfGeometryParser(ros::NodeHandle& root_nh, const std::string &base_link);

  bool getTransformVector(const std::string& joint_name,
                          const std::string& parent_link_name,
                          urdf::Vector3& transform_vector);

  bool getDistanceBetweenJoints(const std::string& first_joint_name,
                                const std::string& second_joint_name,
                                double& distance);

  bool getJointRadius(const std::string& joint_name,
                                double& radius);

  bool getJointSteeringLimits(const std::string& joint_name,
                              double& steering_limit);
private:
  std::string base_link_;

  urdf::ModelInterfaceSharedPtr model_;
};

} // urdf_geometry_parser

#endif