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00031 #ifndef URDF_TRAVERSER_DEPENDENCYORDEREDJOINTS_H
00032 #define URDF_TRAVERSER_DEPENDENCYORDEREDJOINTS_H
00033
00034 #include <string>
00035 #include <urdf_traverser/Types.h>
00036
00037 namespace urdf_traverser
00038 {
00039 class UrdfTraverser;
00040
00046 extern bool getDependencyOrderedJoints(urdf_traverser::UrdfTraverser& traverser,
00047 std::vector<JointPtr>& result, const JointPtr& fromJoint,
00048 bool allowSplits = true, bool onlyActive = true);
00049
00054 extern bool getDependencyOrderedJoints(urdf_traverser::UrdfTraverser& traverser,
00055 std::vector<JointPtr>& result, const std::string& fromLink,
00056 bool allowSplits = true, bool onlyActive = true);
00057
00058 }
00059
00060 #endif // URDF_TRAVERSER_DEPENDENCYORDEREDJOINTS_H