Functions
bool	addChildrenToTree (urdf::LinkConstSharedPtr root, KDL::Tree &tree)

KDL::Vector	toKdl (urdf::Vector3 v)

KDL::Rotation	toKdl (urdf::Rotation r)

KDL::Frame	toKdl (urdf::Pose p)

KDL::Joint	toKdl (urdf::JointSharedPtr jnt)

KDL::RigidBodyInertia	toKdl (urdf::InertialSharedPtr i)

KDL_PARSER_PUBLIC bool	treeFromFile (const std::string &file, KDL::Tree &tree)

KDL_PARSER_PUBLIC bool	treeFromParam (const std::string &param, KDL::Tree &tree)

KDL_PARSER_PUBLIC bool	treeFromString (const std::string &xml, KDL::Tree &tree)

KDL_PARSER_PUBLIC bool	treeFromUrdfModel (const urdf::ModelInterface &robot_model, KDL::Tree &tree)

KDL_PARSER_PUBLIC bool	treeFromXml (TiXmlDocument *xml_doc, KDL::Tree &tree)

Function Documentation

bool kdl_parser::addChildrenToTree	(	urdf::LinkConstSharedPtr	root,
		KDL::Tree &	tree
	)

Definition at line 130 of file kdl_parser.cpp.

KDL::Vector kdl_parser::toKdl ( urdf::Vector3 v )

Definition at line 51 of file kdl_parser.cpp.

KDL::Rotation kdl_parser::toKdl ( urdf::Rotation r )

Definition at line 57 of file kdl_parser.cpp.

KDL::Frame kdl_parser::toKdl ( urdf::Pose p )

Definition at line 63 of file kdl_parser.cpp.

KDL::Joint kdl_parser::toKdl ( urdf::JointSharedPtr jnt )

Definition at line 69 of file kdl_parser.cpp.

KDL::RigidBodyInertia kdl_parser::toKdl ( urdf::InertialSharedPtr i )

Definition at line 99 of file kdl_parser.cpp.

bool kdl_parser::treeFromFile	(	const std::string &	file,
		KDL::Tree &	tree
	)

Constructs a KDL tree from a file, given the file name

Parameters

file	The filename from where to read the xml
tree	The resulting KDL Tree returns true on success, false on failure

Definition at line 161 of file kdl_parser.cpp.

bool kdl_parser::treeFromParam	(	const std::string &	param,
		KDL::Tree &	tree
	)

Constructs a KDL tree from the parameter server, given the parameter name

Parameters

param	the name of the parameter on the parameter server
tree	The resulting KDL Tree returns true on success, false on failure

Definition at line 168 of file kdl_parser.cpp.

bool kdl_parser::treeFromString	(	const std::string &	xml,
		KDL::Tree &	tree
	)

Constructs a KDL tree from a string containing xml

Parameters

xml	A string containting the xml description of the robot
tree	The resulting KDL Tree returns true on success, false on failure

Definition at line 178 of file kdl_parser.cpp.

bool kdl_parser::treeFromUrdfModel	(	const urdf::ModelInterface &	robot_model,
		KDL::Tree &	tree
	)

Constructs a KDL tree from a URDF robot model

Parameters

robot_model	The URDF robot model
tree	The resulting KDL Tree returns true on success, false on failure

Definition at line 196 of file kdl_parser.cpp.

Constructs a KDL tree from a TiXmlDocument

Parameters

xml_doc	The TiXmlDocument containting the xml description of the robot
tree	The resulting KDL Tree returns true on success, false on failure

Definition at line 185 of file kdl_parser.cpp.

Functions