urdf_parser.h

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/* Author: Wim Meeussen */

#ifndef URDF_PARSER_URDF_PARSER_H
#define URDF_PARSER_URDF_PARSER_H

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


namespace gcop_urdf{

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

}

#endif