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kdl_parser
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using urdf::ModelInterface in kdl_parser

This commit is contained in:
Ioan Sucan 2012-09-06 21:42:25 +03:00
parent 1f5fa7d48d
commit f3fb0f2b56
4 changed files with 8 additions and 6 deletions
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6
kdl_parser/include/kdl_parser/kdl_parser.hpp
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@ -39,8 +39,8 @@
#include <kdl/tree.hpp> #include <kdl/tree.hpp>
#include <string> #include <string>
#include <urdf/model.h> #include <urdf_model/model.h>
#include <tinyxml.h>
namespace kdl_parser{ namespace kdl_parser{
@ -77,7 +77,7 @@ bool treeFromXml(TiXmlDocument *xml_doc, KDL::Tree& tree);
* \param tree The resulting KDL Tree * \param tree The resulting KDL Tree
* returns true on success, false on failure * returns true on success, false on failure
*/ */
bool treeFromUrdfModel(const urdf::Model& robot_model, KDL::Tree& tree); bool treeFromUrdfModel(const urdf::ModelInterface& robot_model, KDL::Tree& tree);
} }
#endif #endif

3
kdl_parser/src/check_kdl_parser.cpp
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@ -34,9 +34,10 @@
/* Author: Wim Meeussen */ /* Author: Wim Meeussen */
#include "kdl_parser/kdl_parser.hpp"
#include <kdl/chainfksolverpos_recursive.hpp> #include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/frames_io.hpp> #include <kdl/frames_io.hpp>
#include "kdl_parser/kdl_parser.hpp" #include <urdf/model.h>
#include <iostream> #include <iostream>
using namespace KDL; using namespace KDL;

3
kdl_parser/src/kdl_parser.cpp
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@ -35,6 +35,7 @@
/* Author: Wim Meeussen */ /* Author: Wim Meeussen */
#include "kdl_parser/kdl_parser.hpp" #include "kdl_parser/kdl_parser.hpp"
#include <urdf/model.h>
#include <kdl/frames_io.hpp> #include <kdl/frames_io.hpp>
#include <ros/console.h> #include <ros/console.h>
@ -164,7 +165,7 @@ bool treeFromXml(TiXmlDocument *xml_doc, Tree& tree)
} }
bool treeFromUrdfModel(const urdf::Model& robot_model, Tree& tree) bool treeFromUrdfModel(const urdf::ModelInterface& robot_model, Tree& tree)
{ {
tree = Tree(robot_model.getRoot()->name); tree = Tree(robot_model.getRoot()->name);

2
stack.xml
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@ -1,6 +1,6 @@
<stack> <stack>
<name>robot_model</name> <name>robot_model</name>
<version>1.9.4</version> <version>1.9.5</version>
<description brief="Modeling robot information"> <description brief="Modeling robot information">
<tt>robot_model</tt> contains packages for modeling various <tt>robot_model</tt> contains packages for modeling various
aspects of robot information, specified in the Xml Robot aspects of robot information, specified in the Xml Robot