utils.h
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31 
32 #ifndef INDUSTRIAL_UTILS_H_
33 #define INDUSTRIAL_UTILS_H_
34 
35 #include <vector>
36 #include <string>
37 #include "urdf/model.h"
38 
39 namespace industrial_utils
40 {
41 
54 bool isSimilar(std::vector<std::string> lhs, std::vector<std::string> rhs);
55 
65 bool isSame(const std::vector<std::string> & lhs, const std::vector<std::string> & rhs);
66 
67 /*
68  * \brief Returns joint names for a simple serial chain from a URDF tree
69  * - returns an error if branching tree is found
70  * - assumes chain runs root->leaf. leaf->root->leaf chains not allowed.
71  *
72  * \param[in] link URDF model link to search from (e.g. model.getRoot())
73  * \param[in] ignore_fixed flag to ignore fixed joints
74  * \param[in,out] joint_names vector of joint names
75  *
76  * \return true if successful, false if error occurred (e.g. branching tree)
77  */
78 bool findChainJointNames(const urdf::LinkConstSharedPtr &link, bool ignore_fixed,
79  std::vector<std::string> &joint_names);
80 
81 } //industrial_utils
82 
83 #endif /* INDUSTRIAL_UTILS_H_ */
bool findChainJointNames(const urdf::LinkConstSharedPtr &link, bool ignore_fixed, std::vector< std::string > &joint_names)
Definition: utils.cpp:72
bool isSame(const std::vector< std::string > &lhs, const std::vector< std::string > &rhs)
Checks to see if sets are the same(same members, same order) Wraps std::equal method.
Definition: utils.cpp:57
bool isSimilar(std::vector< std::string > lhs, std::vector< std::string > rhs)
Checks to see if sets are similar(same members, any order) NOTE: Vectors are passed by copy because t...
Definition: utils.cpp:39


industrial_utils
Author(s): Shaun Edwards
autogenerated on Mon Feb 28 2022 22:34:34