bool treeFromUrdfFile(const string& file, Tree& tree,const bool consider_root_link_inertia)
{
ifstream ifs(file.c_str());
std::string xml_string( (std::istreambuf_iterator<char>(ifs) ),
(std::istreambuf_iterator<char>() ) );
return treeFromUrdfString(xml_string,tree,consider_root_link_inertia);
}
bool sensorsListFromURDFString(const std::string& urdf_string,
iDynTree::SensorsList& output)
{
// we get first the KDL::CoDyCo::UndirectedTree object,
// and then we used it to parse also sensors informations.
KDL::Tree tree;
bool ok = treeFromUrdfString(urdf_string,tree);
if( !ok )
{
std::cerr << "iDynTree::sensorsListFromURDFString : error in loading urdf string "
<< urdf_string << std::endl;
return false;
}
KDL::CoDyCo::UndirectedTree undirected_tree = KDL::CoDyCo::UndirectedTree(tree);
output = sensorsListFromURDFString(undirected_tree,urdf_string);
return ok;
}
