urdf_parser.h File Reference

#include <string>
#include <map>
#include <tinyxml.h>
#include <boost/function.hpp>
#include "urdfmodel.h"
#include "mbs.h"
#include "airbase.h"

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Namespaces
namespace	gcop_urdf
Functions
boost::shared_ptr< ModelInterface >	gcop_urdf::parseURDF (const std::string &xml_string)
void	gcop_urdf::transformtoprincipal (boost::shared_ptr< Link > link)
void	gcop_urdf::combineinertia (boost::shared_ptr< Link > clink, boost::shared_ptr< Link > plink, Pose posec_p)
void	gcop_urdf::assign (boost::shared_ptr< const Link > link, boost::shared_ptr< Link > parentlink, Pose cumpose)
void	gcop_urdf::aggregate (boost::shared_ptr< const Link > link, boost::shared_ptr< Link > parentlink, Pose cumpose)
gcop::Matrix4d	gcop_urdf::diffpose (Pose &posej_p, Pose &posei_p)
void	gcop_urdf::walkTree (boost::shared_ptr< Link > link, int level, int &index, boost::shared_ptr< gcop::Mbs > mbs)
	gcop_urdf::mbsgenerator (const std::string &xml_string, gcop::Matrix4d &gposei_root, std::string type="FLOATBASE")