adding a horrible hack. these functions should be in the headers?

collada_parser/CMakeLists.txt

@@ -33,7 +33,7 @@ if( HAVE_MKSTEMPS )
 endif()
 
 #common commands for building c++ executables and libraries
-rosbuild_add_library(${PROJECT_NAME} src/collada_parser.cpp)
+rosbuild_add_library(${PROJECT_NAME} src/collada_parser.cpp src/hack.cpp)
 
 rosbuild_add_compile_flags(${PROJECT_NAME} "${COLLADA_DOM_CFLAGS_OTHER}")
 rosbuild_add_link_flags(${PROJECT_NAME} "${COLLADA_DOM_LDFLAGS_OTHER}")

collada_parser/src/hack.cpp

@@ -0,0 +1,134 @@
+/*********************************************************************
+* 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: John Hsu */
+
+
+#include <urdf_model/model.h>
+#include <fstream>
+#include <sstream>
+#include <boost/lexical_cast.hpp>
+#include <algorithm>
+#include <ros/console.h>
+
+namespace urdf{
+
+bool ModelInterface::initTree(std::map<std::string, std::string> &parent_link_tree)
+{
+  // loop through all joints, for every link, assign children links and children joints
+  for (std::map<std::string,boost::shared_ptr<Joint> >::iterator joint = this->joints_.begin();joint != this->joints_.end(); joint++)
+  {
+    std::string parent_link_name = joint->second->parent_link_name;
+    std::string child_link_name = joint->second->child_link_name;
+
+    ROS_DEBUG("build tree: joint: '%s' has parent link '%s' and child  link '%s'", joint->first.c_str(), parent_link_name.c_str(),child_link_name.c_str());
+    if (parent_link_name.empty() || child_link_name.empty())
+    {
+      ROS_ERROR("    Joint %s is missing a parent and/or child link specification.",(joint->second)->name.c_str());
+      return false;
+    }
+    else
+    {
+      // find child and parent links
+      boost::shared_ptr<Link> child_link, parent_link;
+      this->getLink(child_link_name, child_link);
+      if (!child_link)
+      {
+        ROS_ERROR("    child link '%s' of joint '%s' not found", child_link_name.c_str(), joint->first.c_str() );
+        return false;
+      }
+      this->getLink(parent_link_name, parent_link);
+      if (!parent_link)
+      {
+        ROS_ERROR("    parent link '%s' of joint '%s' not found.  The Boxturtle urdf parser used to automatically add this link for you, but this is not valid according to the URDF spec. Every link you refer to from a joint needs to be explicitly defined in the robot description. To fix this problem you can either remove this joint from your urdf file, or add \"<link name=\"%s\" />\" to your urdf file.", parent_link_name.c_str(), joint->first.c_str(), parent_link_name.c_str() );
+        return false;
+      }
+
+      //set parent link for child link
+      child_link->setParent(parent_link);
+
+      //set parent joint for child link
+      child_link->setParentJoint(joint->second);
+
+      //set child joint for parent link
+      parent_link->addChildJoint(joint->second);
+    
+      //set child link for parent link
+      parent_link->addChild(child_link);
+    
+      // fill in child/parent string map
+      parent_link_tree[child_link->name] = parent_link_name;
+    
+      ROS_DEBUG("    now Link '%s' has %i children ", parent_link->name.c_str(), (int)parent_link->child_links.size());
+    }
+  }
+
+  return true;
+};
+
+bool ModelInterface::initRoot(std::map<std::string, std::string> &parent_link_tree)
+{
+  this->root_link_.reset();
+
+  // find the links that have no parent in the tree
+  for (std::map<std::string, boost::shared_ptr<Link> >::iterator l=this->links_.begin(); l!=this->links_.end(); l++)  
+  {
+    std::map<std::string, std::string >::iterator parent = parent_link_tree.find(l->first);
+    if (parent == parent_link_tree.end())
+    {
+      // store root link
+      if (!this->root_link_)
+      {
+        getLink(l->first, this->root_link_);
+      }
+      // we already found a root link
+      else{
+        ROS_ERROR("Two root links found: '%s' and '%s'", this->root_link_->name.c_str(), l->first.c_str());
+        return false;
+      }
+    }
+  }
+  if (!this->root_link_)
+  {
+    ROS_ERROR("No root link found. The robot xml is not a valid tree.");
+    return false;
+  }
+  ROS_DEBUG("Link '%s' is the root link", this->root_link_->name.c_str());
+
+  return true;
+};
+
+}
+
+