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kdl_parser
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update doxygen

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hsu 2009-09-30 02:10:52 +00:00
parent 834777c9a7
commit 58c24c19e1
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urdf/mainpage.dox
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@ -2,11 +2,10 @@
\mainpage \mainpage
\htmlinclude manifest.html \htmlinclude manifest.html
URDF is a class containing robot model data structure. urdf::Model is a class containing robot model data structure.
Every Robot Description File can be described as a list of Links and Joints. Every Robot Description File (URDF) can be described as a list of Links (urdf::Model::links_) and Joints (urdf::Model::joints_).
The connection between links(nodes) and joints(edges) should define a tree (i.e. 1 parent link, 0+ children links). The connection between links(nodes) and joints(edges) should define a tree (i.e. 1 parent link, 0+ children links).
Below is an example Robot Description Describing a Parent Link 'P', a Child Link 'C', and a Joint 'J' \li Here is an example Robot Description Describing a Parent Link 'P', a Child Link 'C', and a Joint 'J'
\li NEW URDF XML that corresponds to the current URDF data structure:
@verbatim @verbatim
<joint name="J" type="revolute"> <joint name="J" type="revolute">
<dynamics damping="1" friction="0"/> <dynamics damping="1" friction="0"/>
@ -59,14 +58,13 @@ Below is an example Robot Description Describing a Parent Link 'P', a Child Link
\section codeapi Code API \section codeapi Code API
The URDF parser API contains the following methods: The URDF parser API contains the following methods:
\li Parse from XML: urdf::Model::initXml \li Parse and build tree from XML: urdf::Model::initXml
\li Parse from File: urdf::Model::initFile \li Parse and build tree from File: urdf::Model::initFile
\li Parse from String: urdf::Model::initString \li Parse and build tree from String: urdf::Model::initString
\li Get Root Link: urdf::Model::getRoot \li Get Root Link: urdf::Model::getRoot
\li Get Link by name urdf::Model::getLink \li Get Link by name urdf::Model::getLink
\li Get all Link's urdf::Model::getLinks \li Get all Link's urdf::Model::getLinks
\li Get Joint by name urdf::Model::getJoint \li Get Joint by name urdf::Model::getJoint
\li etc.
<!-- <!--
\section rosapi ROS API \section rosapi ROS API