00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Wim Meeussen */ 00036 00037 #include "kdl_parser/kdl_parser.hpp" 00038 #include <kdl/chainfksolverpos_recursive.hpp> 00039 #include <kdl/frames_io.hpp> 00040 #include <urdf/model.h> 00041 #include <iostream> 00042 00043 using namespace KDL; 00044 using namespace std; 00045 using namespace urdf; 00046 00047 void printLink(const SegmentMap::const_iterator& link, const std::string& prefix) 00048 { 00049 cout << prefix << "- Segment " << link->second.segment.getName() << " has " << link->second.children.size() << " children" << endl; 00050 for (unsigned int i=0; i<link->second.children.size(); i++) 00051 printLink(link->second.children[i], prefix + " "); 00052 } 00053 00054 00055 00056 int main(int argc, char** argv) 00057 { 00058 if (argc < 2){ 00059 std::cerr << "Expect xml file to parse" << std::endl; 00060 return -1; 00061 } 00062 Model robot_model; 00063 if (!robot_model.initFile(argv[1])) 00064 {cerr << "Could not generate robot model" << endl; return false;} 00065 00066 Tree my_tree; 00067 if (!kdl_parser::treeFromUrdfModel(robot_model, my_tree)) 00068 {cerr << "Could not extract kdl tree" << endl; return false;} 00069 00070 // walk through tree 00071 cout << " ======================================" << endl; 00072 cout << " Tree has " << my_tree.getNrOfSegments() << " link(s) and a root link" << endl; 00073 cout << " ======================================" << endl; 00074 SegmentMap::const_iterator root = my_tree.getRootSegment(); 00075 printLink(root, ""); 00076 } 00077 00078