/** \mainpage \htmlinclude manifest.html urdf::Model is a class containing robot model data structure. 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). \li Here is an example Robot Description Describing a Parent Link 'P', a Child Link 'C', and a Joint 'J' @verbatim @endverbatim \section codeapi Code API The URDF parser API contains the following methods: \li Parse and build tree from XML: urdf::Model::initXml \li Parse and build tree from File: urdf::Model::initFile \li Parse and build tree from String: urdf::Model::initString \li Get Root Link: urdf::Model::getRoot \li Get Link by name urdf::Model::getLink \li Get all Link's urdf::Model::getLinks \li Get Joint by name urdf::Model::getJoint */