URDFTools.hpp

Go to the documentation of this file.

#ifndef URDF_TOOLS_HPP
#define URDF_TOOLS_HPP
 
#include <string>
#include <vector>
#include <urdf_parser/urdf_parser.h>
#include "../types/JointLimits.hpp"
 
namespace wbc {
 
class URDFTools{
public:
    static std::vector<std::string> jointNamesFromURDF(const urdf::ModelInterfaceSharedPtr& urdf_model);

    static void jointLimitsFromURDF(const urdf::ModelInterfaceSharedPtr& urdf_model, types::JointLimits& limits, const std::vector<std::string>& joint_names);

    static const std::string rootLinkFromURDF(const urdf::ModelInterfaceSharedPtr& urdf_model);

    static void printTree(urdf::LinkConstSharedPtr link, int level = 0);

    static bool applyJointBlacklist(urdf::ModelInterfaceSharedPtr& robot_urdf, const std::vector<std::string> &blacklist);
};
 
}
 
#endif