utils.h

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#ifndef INDUSTRIAL_UTILS_H_
#define INDUSTRIAL_UTILS_H_
 
#include <vector>
#include <string>
#include "urdf/model.h"
 
namespace industrial_utils
{
 
bool isSimilar(std::vector<std::string> lhs, std::vector<std::string> rhs);
 
bool isSame(const std::vector<std::string> & lhs, const std::vector<std::string> & rhs);
 
/*
 * \brief Returns joint names for a simple serial chain from a URDF tree
 *          - returns an error if branching tree is found
 *          - assumes chain runs root->leaf.  leaf->root->leaf chains not allowed.
 *
 * \param[in] link URDF model link to search from (e.g. model.getRoot())
 * \param[in] ignore_fixed flag to ignore fixed joints
 * \param[in,out] joint_names vector of joint names
 *
 * \return true if successful, false if error occurred (e.g. branching tree)
 */
bool findChainJointNames(const urdf::LinkConstSharedPtr &link, bool ignore_fixed,
                                 std::vector<std::string> &joint_names);
 
} //industrial_utils
 
#endif /* INDUSTRIAL_UTILS_H_ */