59#include <urdf_model/model.h>
61#include <kdl/tree.hpp>
65#if !defined(HAVE_URDFDOM_TYPES_H)
67typedef boost::shared_ptr<urdf::Joint> JointSharedPtr;
68typedef boost::shared_ptr<urdf::Inertial> InertialSharedPtr;
69typedef boost::shared_ptr<urdf::Link> LinkSharedPtr;
70typedef boost::shared_ptr<urdf::ModelInterface> ModelInterfaceSharedPtr;
83bool tree_from_file(
const std::string &file, KDL::Tree &tree);
90bool tree_from_param(
const std::string ¶m, KDL::Tree &tree);
97bool tree_from_string(
const std::string &xml, KDL::Tree &tree);
104bool tree_from_xml(TiXmlDocument *xml_doc, KDL::Tree &tree);
111bool tree_from_urdf_model(
const urdf::ModelInterface &robot_model, KDL::Tree &tree);
Fawkes library namespace.