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