api review kdl_parser

kdl_parser/CMakeLists.txt

@@ -23,13 +23,13 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 #uncomment if you have defined services
 #gensrv()
 
-rosbuild_add_library(${PROJECT_NAME} src/xml_parser.cpp src/dom_parser.cpp)
+rosbuild_add_library(${PROJECT_NAME} src/xml_parser.cpp src/kdl_parser.cpp)
 
 rosbuild_add_executable(example_xml test/example_xml.cpp  )
 target_link_libraries(example_xml ${PROJECT_NAME})
 
-rosbuild_add_executable(example_dom test/example_dom.cpp )
+rosbuild_add_executable(example test/example.cpp )
-target_link_libraries(example_dom ${PROJECT_NAME})
+target_link_libraries(example ${PROJECT_NAME})
 
 rosbuild_add_executable(test_parser test/test_kdl_parser.cpp )
 target_link_libraries(test_parser ${PROJECT_NAME})

kdl_parser/include/kdl_parser/dom_parser.hpp

@@ -1,61 +1,4 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-* 
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-* 
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-* 
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-* 
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
 
-/* Author: Wim Meeussen */
+#warning ____YOU ARE INCLUDING THE DEPRECATED KDL PARSER. PLEASE SWITCH TO THE NEW KDL PARSER. SEE www.ros.org/wiki/kdl_parser FOR DETAILS____
 
-#ifndef DOM_PARSER_H
+#include <kdl_parser/kdl_parser.hpp>
-#define DOM_PARSER_H
-
-#include <kdl/tree.hpp>
-#include <string>
-#include <urdf/model.h>
-
-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);
-}
-
-#endif

kdl_parser/include/kdl_parser/kdl_parser.hpp

@@ -0,0 +1,86 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+* 
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+* 
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+* 
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+* 
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Wim Meeussen */
+
+#ifndef KDL_PARSER_H
+#define KDL_PARSER_H
+
+#include <kdl/tree.hpp>
+#include <string>
+#include <urdf/model.h>
+
+using namespace std;
+
+namespace kdl_parser{
+
+/** Constructs a KDL tree from a file, given the file name
+ * \param file The filename from where to read the xml
+ * \param tree The resulting KDL Tree
+ * returns true on success, false on failure
+ */
+bool treeFromFile(const string& file, 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
+ * returns true on success, false on failure
+ */
+bool treeFromString(const string& xml, KDL::Tree& tree);
+
+/** Constructs a KDL tree from a TiXmlDocument
+ * \param xml_doc The TiXmlDocument containting the xml description of the robot
+ * \param tree The resulting KDL Tree
+ * returns true on success, false on failure
+ */
+bool treeFromXml(TiXmlDocument *xml_doc, KDL::Tree& tree);
+
+
+/** Constructs a KDL tree from a URDF robot model
+ * \param robot_model The URDF robot model
+ * \param tree The resulting KDL Tree
+ * returns true on success, false on failure
+ */
+bool treeFromRobotModel(const urdf::Model& robot_model, KDL::Tree& tree);
+
+
+/** Constructs a KDL tree from a URDF robot model
+ * \param robot_model The URDF robot model
+ * \param tree The resulting KDL Tree
+ * returns true on success, false on failure
+ */
+bool treeFromUrdfModel(const urdf::Model& robot_model, KDL::Tree& tree);
+}
+
+#endif

kdl_parser/manifest.xml

@@ -6,7 +6,7 @@
   </description>
   <author>Wim Meeussen meeussen@willowgarage.com </author>
   <license>BSD</license>
-  <review status="unreviewed" notes=""/>
+  <review status="API cleared" notes=""/>
   <url>http://pr.willowgarage.com/wiki/</url>
 
   <depend package="kdl" />

kdl_parser/src/kdl_parser.cpp

@@ -34,7 +34,7 @@
 
 /* Author: Wim Meeussen */
 
-#include "kdl_parser/dom_parser.hpp"
+#include "kdl_parser/kdl_parser.hpp"
 #include <kdl/frames_io.hpp>
 
 
@@ -151,11 +151,11 @@ bool treeFromXml(TiXmlDocument *xml_doc, Tree& tree)
     ROS_ERROR("Could not generate robot model");
     return false;
   }
-  return treeFromRobotModel(robot_model, tree);
+  return treeFromUrdfModel(robot_model, tree);
 }
 
 
-bool treeFromRobotModel(urdf::Model& robot_model, Tree& tree)
+bool treeFromUrdfModel(const urdf::Model& robot_model, Tree& tree)
 {
   tree = Tree(robot_model.getRoot()->name);
 
@@ -167,6 +167,11 @@ bool treeFromRobotModel(urdf::Model& robot_model, Tree& tree)
   return true;
 }
 
+bool treeFromRobotModel(const urdf::Model& robot_model, Tree& tree)
+{
+  ROS_ERROR("treeFromRobotModel function is deprecated and replaces by treeFromUrdfModel");
+  return treeFromUrdfModel(robot_model, tree);
+}
 
 
 }

kdl_parser/test/example.cpp

@@ -36,7 +36,7 @@
 
 #include <kdl/chainfksolverpos_recursive.hpp>
 #include <kdl/frames_io.hpp>
-#include "kdl_parser/dom_parser.hpp"
+#include "kdl_parser/kdl_parser.hpp"
 #include <iostream>
 
 using namespace KDL;
@@ -50,7 +50,7 @@ int main()
   {cerr << "Could not generate robot model" << endl; return false;}
 
   Tree my_tree;
-  if (!kdl_parser::treeFromRobotModel(robot_model, my_tree)) 
+  if (!kdl_parser::treeFromUrdfModel(robot_model, my_tree)) 
   {cerr << "Could not extract kdl tree" << endl; return false;}
 
   // walk through tree

kdl_parser/test/test_kdl_parser.cpp

@@ -37,7 +37,7 @@
 #include <string>
 #include <gtest/gtest.h>
 #include <ros/ros.h>
-#include "kdl_parser/dom_parser.hpp"
+#include "kdl_parser/kdl_parser.hpp"
 
 using namespace kdl_parser;