libalmath  2.5.7.1
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
urdfrigidbodysystemtraverser.h
Go to the documentation of this file.
1 /*
2  * Copyright 2015 Aldebaran. All rights reserved.
3  *
4  */
5 
6 #ifndef LIB_ALMATH_SCENEGRAPH_URDFRIGIDBODYSYSTEMTRAVERSER_H
7 #define LIB_ALMATH_SCENEGRAPH_URDFRIGIDBODYSYSTEMTRAVERSER_H
8 
11 #include <iosfwd>
12 
13 namespace AL {
14 
15 // Walk an URDF kinematic tree calling the provided builder.
16 //
17 // notes:
18 // * will add an implicit free floating root joint
19 // * will modify pt.
20 // * will stop exploring a branch when a massless non-fixed link is reached.
22  RigidBodySystemBuilder::Interface<double> &builder, urdf::ptree &pt,
23  bool remove_root_joint = false, bool make_continuous_joints_fixed = false);
24 
26  RigidBodySystemBuilder::Interface<double> &builder, std::istream &is,
27  bool remove_root_joint = false, bool make_continuous_joints_fixed = false);
28 }
29 #endif
void buildRigidBodySystemFromUrdf(RigidBodySystemBuilder::Interface< double > &builder, urdf::ptree &pt, bool remove_root_joint=false, bool make_continuous_joints_fixed=false)
boost::property_tree::ptree ptree
Definition: urdf.h:55