add deprecate warning at compile and at run time. Update regression tests to dom parser

kdl_parser/include/kdl_parser/dom_parser.hpp

@@ -45,9 +45,16 @@ using namespace std;
 
 namespace kdl_parser{
 
+/// Constructs a KDL tree from a file, given the file name
 bool treeFromFile(const string& file, KDL::Tree& tree);
+
+/// Constructs a KDL tree from a string containing xml
 bool treeFromString(const string& xml, KDL::Tree& tree);
+
+/// Constructs a KDL tree from a TiXmlDocument
 bool treeFromXml(TiXmlDocument *xml_doc, KDL::Tree& tree);
+
+/// Constructs a KDL tree from a URDF robot model
 bool treeFromRobotModel(urdf::Model& robot_model, KDL::Tree& tree);
 }
 

kdl_parser/include/kdl_parser/xml_parser.hpp

@@ -37,6 +37,8 @@
 #ifndef XML_PARSER_H
 #define XML_PARSER_H
 
+#warning ____YOU ARE INCLUDING THE DEPRECATED KDL PARSER. PLEASE SWITCH TO THE NEW KDL PARSER. SEE www.ros.org/wiki/kdl_parser FOR DETAILS____
+
 #include <kdl/tree.hpp>
 #include <string>
 #include <tinyxml/tinyxml.h>

kdl_parser/src/xml_parser.cpp

@@ -36,7 +36,7 @@
 
 #include <boost/algorithm/string.hpp>
 #include "kdl_parser/xml_parser.hpp"
-
+#include <ros/ros.h>
 using namespace std;
 
 namespace KDL{
@@ -265,6 +265,8 @@ void addChildrenToTree(const string& root, const map<string, Segment>& segments,
 
 bool getTree(TiXmlElement *robot_xml, Tree& tree)
 {
+  ROS_ERROR("You are using the deprecated kdl parser. Please update to the new kdl parser. See www.ros.org/wiki/kdl_parser for more details");
+
   cout << "Parsing robot xml" << endl;
 
   if (!robot_xml) return false;

kdl_parser/test/test_kdl_parser.cpp

@@ -37,9 +37,9 @@
 #include <string>
 #include <gtest/gtest.h>
 #include <ros/ros.h>
-#include "kdl_parser/xml_parser.hpp"
+#include "kdl_parser/dom_parser.hpp"
 
-using namespace KDL;
+using namespace kdl_parser;
 
 int g_argc;
 char** g_argv;
@@ -47,7 +47,7 @@ char** g_argv;
 class TestParser : public testing::Test
 {
 public:
-  Tree my_tree;
+  KDL::Tree my_tree;
 
 protected:
   /// constructor
@@ -72,10 +72,10 @@ TEST_F(TestParser, test)
   }
 
   ASSERT_TRUE(treeFromFile(g_argv[g_argc-1], my_tree));
-  ASSERT_TRUE(my_tree.getNrOfJoints() == 38);
+  ASSERT_EQ(my_tree.getNrOfJoints(), (unsigned int)39);
-  ASSERT_TRUE(my_tree.getNrOfSegments() == 51);
+  ASSERT_EQ(my_tree.getNrOfSegments(), (unsigned int)51);
   ASSERT_TRUE(my_tree.getSegment("world") == my_tree.getRootSegment());
-  ASSERT_TRUE(my_tree.getRootSegment()->second.children.size() == 1);
+  ASSERT_EQ(my_tree.getRootSegment()->second.children.size(), (unsigned int)1);
   ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment());
   SUCCEED();
 }