urdfreader.h

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/*
 * Original Copyright (c) 2011-2016 Martin Felis <martin.felis@iwr.uni-heidelberg.de>
 *
 *
 * RDL - Robot Dynamics Library
 * Modifications Copyright (c) 2017 Jordan Lack <jlack1987@gmail.com>
 *
 * Licensed under the zlib license. See LICENSE for more details.
 */

#ifndef __RDL_URDFREADER_H__
#define __RDL_URDFREADER_H__

#include "rdl_dynamics/Model.h"

namespace RobotDynamics
{
namespace Urdf
{
bool urdfReadFromFile(const char* filename, ModelPtr model, bool floating_base, bool verbose = false);

bool urdfReadFromFile(const std::string& filename, ModelPtr model);

bool urdfReadFromString(const char* model_xml_string, ModelPtr model, bool floating_base, bool verbose = false);

bool urdfReadFromString(const std::string& model_xml_string, ModelPtr model);

bool parseJointBodyNameMapFromString(const char* model_xml_string, std::map<std::string, std::string>& jointBodyMap);

bool parseJointBodyNameMapFromString(const std::string& model_xml_string, std::map<std::string, std::string>& jointBodyMap);

bool parseJointAndBodyNamesFromString(const std::string& model_xml_string, std::vector<std::string>& joint_names, std::vector<std::string>& body_names);

bool parseJointAndBodyNamesFromString(const char* model_xml_string, std::vector<std::string>& joint_names, std::vector<std::string>& body_names);

bool parseJointBodyNameMapFromFile(const char* filename, std::map<std::string, std::string>& jointBodyMap);

bool parseJointAndQIndex(const RobotDynamics::Model& model, const std::vector<std::string>& body_names, std::vector<unsigned int>& q_indices);

bool parseJointAndQIndex(const std::string& model_xml_string, std::vector<unsigned int>& q_indices);
}  // namespace Urdf
}  // namespace RobotDynamics

/* ___RDL_URDFREADER_H__ */
#endif  // ifndef __RDL_URDFREADER_H__