/usr/include/kdl_parser/kdl_parser.hpp is in libkdl-parser-dev 1.12.6-1build3.
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* Copyright (c) 2008, Willow Garage, Inc.
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/* Author: Wim Meeussen */
#ifndef KDL_PARSER_H
#define KDL_PARSER_H
#include <kdl/tree.hpp>
#include <string>
#include <urdf_model/model.h>
#include <tinyxml.h>
namespace kdl_parser{
/** Constructs a KDL tree from a file, given the file name
* \param file The filename from where to read the xml
* \param tree The resulting KDL Tree
* returns true on success, false on failure
*/
bool treeFromFile(const std::string& file, KDL::Tree& tree);
/** Constructs a KDL tree from the parameter server, given the parameter name
* \param param the name of the parameter on the parameter server
* \param tree The resulting KDL Tree
* returns true on success, false on failure
*/
bool treeFromParam(const std::string& param, KDL::Tree& tree);
/** Constructs a KDL tree from a string containing xml
* \param xml A string containting the xml description of the robot
* \param tree The resulting KDL Tree
* returns true on success, false on failure
*/
bool treeFromString(const std::string& xml, KDL::Tree& tree);
/** Constructs a KDL tree from a TiXmlDocument
* \param xml_doc The TiXmlDocument containting the xml description of the robot
* \param tree The resulting KDL Tree
* returns true on success, false on failure
*/
bool treeFromXml(TiXmlDocument *xml_doc, KDL::Tree& tree);
/** Constructs a KDL tree from a URDF robot model
* \param robot_model The URDF robot model
* \param tree The resulting KDL Tree
* returns true on success, false on failure
*/
bool treeFromUrdfModel(const urdf::ModelInterface& robot_model, KDL::Tree& tree);
}
#endif
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