kdl_parser.hpp

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/* Author: Wim Meeussen */

#ifndef KDL_PARSER__KDL_PARSER_HPP_
#define KDL_PARSER__KDL_PARSER_HPP_

#include <kdl/tree.hpp>
#include <string>
#include <urdf_model/model.h>
#include <tinyxml2.h>
#include <tinyxml.h>  // NOLINT

#include "kdl_parser/visibility_control.hpp"

namespace kdl_parser
{

KDL_PARSER_PUBLIC
bool treeFromFile(const std::string & file, KDL::Tree & tree);

KDL_PARSER_PUBLIC
bool treeFromParam(const std::string & param, KDL::Tree & tree);

KDL_PARSER_PUBLIC
bool treeFromString(const std::string & xml, KDL::Tree & tree);

KDL_PARSER_PUBLIC
bool treeFromXml(const tinyxml2::XMLDocument * xml_doc, KDL::Tree & tree);

KDL_PARSER_PUBLIC
KDL_PARSER_DEPRECATED("TinyXML API is deprecated, use the TinyXML2 version instead")
bool treeFromXml(TiXmlDocument * xml_doc, KDL::Tree & tree);

KDL_PARSER_PUBLIC
bool treeFromUrdfModel(const urdf::ModelInterface & robot_model, KDL::Tree & tree);
}  // namespace kdl_parser

#endif  // KDL_PARSER__KDL_PARSER_HPP_