00001 #include "robodyn_controllers/KdlTreeParser.h" 00002 00003 KdlTreeParser::KdlTreeParser() 00004 { 00005 } 00006 00007 KdlTreeParser::~KdlTreeParser() 00008 { 00009 } 00010 00011 void KdlTreeParser::loadFromFile(const std::string& fileName) 00012 { 00013 if (!kdl_parser::treeFromFile(fileName, tree)) 00014 { 00015 std::stringstream err; 00016 err << "KdlTreeParser::loadFromFile could not load file " << fileName; 00017 NasaCommonLogging::Logger::log("gov.nasa.controllers.KdlTreeParser", log4cpp::Priority::ERROR, err.str()); 00018 throw std::runtime_error(err.str()); 00019 return; 00020 } 00021 00022 initialize(); 00023 } 00024 00025 void KdlTreeParser::loadFromParam(const std::string& paramName) 00026 { 00027 if (!kdl_parser::treeFromParam(paramName, tree)) 00028 { 00029 std::stringstream err; 00030 err << "KdlTreeParser::loadFromParam could not load parameter " << paramName; 00031 NasaCommonLogging::Logger::log("gov.nasa.controllers.KdlTreeParser", log4cpp::Priority::ERROR, err.str()); 00032 throw std::runtime_error(err.str()); 00033 return; 00034 } 00035 00036 initialize(); 00037 } 00038