From 2b84aed3e5d6848dae1548ce9070a3f72631dc67 Mon Sep 17 00:00:00 2001
From: wim <devnull@localhost>
Date: Thu, 24 Jun 2010 19:20:16 +0000
Subject: [PATCH] initParam() calls through to urdf::initParam()

---
 kdl_parser/include/kdl_parser/kdl_parser.hpp | 7 +++++++
 kdl_parser/src/kdl_parser.cpp                | 9 +++++++++
 2 files changed, 16 insertions(+)

diff --git a/kdl_parser/include/kdl_parser/kdl_parser.hpp b/kdl_parser/include/kdl_parser/kdl_parser.hpp
index 65720e3..ba7e2c8 100644
--- a/kdl_parser/include/kdl_parser/kdl_parser.hpp
+++ b/kdl_parser/include/kdl_parser/kdl_parser.hpp
@@ -51,6 +51,13 @@ namespace kdl_parser{
  */
 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
diff --git a/kdl_parser/src/kdl_parser.cpp b/kdl_parser/src/kdl_parser.cpp
index 358e2c5..f5abc69 100644
--- a/kdl_parser/src/kdl_parser.cpp
+++ b/kdl_parser/src/kdl_parser.cpp
@@ -138,6 +138,15 @@ bool treeFromFile(const string& file, Tree& tree)
   return treeFromXml(&urdf_xml, tree);
 }
 
+bool treeFromParam(const string& param, Tree& tree)
+{
+  urdf::Model robot_model;
+  if (!robot_model.initParam(param)){
+    ROS_ERROR("Could not generate robot model");
+    return false;
+  }
+  return treeFromUrdfModel(robot_model, tree);
+}
 
 bool treeFromString(const string& xml, Tree& tree)
 {