URDFTools.hpp

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#ifndef URDF_TOOLS_HPP
#define URDF_TOOLS_HPP
 
#include <string>
#include <vector>
#include <urdf_parser/urdf_parser.h>
 
namespace base{
class JointLimits;
}
 
namespace wbc {
 
class URDFTools{
public:
    static std::vector<std::string> jointNamesFromURDF(const std::string &filename);

    static std::vector<std::string> jointNamesFromURDF(const urdf::ModelInterfaceSharedPtr& urdf_model);

    static void jointLimitsFromURDF(const std::string& filename, base::JointLimits& limits);

    static void jointLimitsFromURDF(const urdf::ModelInterfaceSharedPtr& urdf_model, base::JointLimits& limits);

    static const std::string rootLinkFromURDF(const std::string &filename);

    static const std::string robotNameFromURDF(const std::string &filename);

    static void printTree(const std::string& filename);

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

    static std::vector<std::string> addFloatingBaseToURDF(urdf::ModelInterfaceSharedPtr& robot_urdf, const std::string &world_frame_id = "world");

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