RobotURDF.h

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/***************************************************************************/
#ifndef ROBOTURDF_H_
#define ROBOTURDF_H_

#include "robodyn_controllers/Robot.h"
#include "tinyxml.h"
#include <map>
#include <stdexcept>
#include <kdl_parser/kdl_parser.hpp>

/***************************************************************************/
class RobotURDF : public Robot
{
public:
    RobotURDF(const std::string& filename, const std::string& rootLink);
    virtual ~RobotURDF();

private:
    struct Joint
    {
        KDL::Joint::JointType type;
        std::string parent;
        std::string child;
        KDL::Frame frame;
    };

    typedef std::map<std::string, KDL::RigidBodyInertia> LinkMap;
    typedef std::map<std::string, Joint> JointMap;

    void parseFile(const std::string& filename, const std::string& rootLink);

//        void parseLink(TiXmlElement *element);
    void parseJoint(TiXmlElement* element);

//        void getChildJoints(std::string parent_name, JointMap *joints);

//        void buildTree(KDL::Chain& chain, const std::string chain_name, const std::string chain_hook,
//            const std::string joint_name, const Joint& basej);

//        LinkMap linkMap;
//        JointMap jointMap;
};


#endif /* ROBOTURDF_H_ */