70 lines
1.8 KiB
C++
70 lines
1.8 KiB
C++
#include <rbdl/rbdl.h>
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#include <rbdl/rbdl_utils.h>
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#include "urdfreader.h"
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#include <iostream>
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using namespace std;
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bool verbose = false;
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bool floatbase = false;
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string filename = "";
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void usage (const char* argv_0) {
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cerr << "Usage: " << argv_0 << "[-v] [-m] [-d] <robot.urdf>" << endl;
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cerr << " -v | --verbose enable additional output" << endl;
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cerr << " -d | --dof-overview print an overview of the degress of freedom" << endl;
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cerr << " -m | --model-hierarchy print the hierarchy of the model" << endl;
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cerr << " -h | --help print this help" << endl;
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exit (1);
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}
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int main (int argc, char *argv[]) {
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if (argc < 2 || argc > 4) {
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usage(argv[0]);
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}
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bool verbose = false;
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bool dof_overview = false;
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bool model_hierarchy = false;
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string filename = argv[1];
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for (int i = 1; i < argc; i++) {
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if (string(argv[i]) == "-v" || string (argv[i]) == "--verbose")
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verbose = true;
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else if (string(argv[i]) == "-d" || string (argv[i]) == "--dof-overview")
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dof_overview = true;
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else if (string(argv[i]) == "-m" || string (argv[i]) == "--model-hierarchy")
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model_hierarchy = true;
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else if (string(argv[i]) == "-f" || string (argv[i]) == "--floatbase")
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floatbase = true;
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else if (string(argv[i]) == "-h" || string (argv[i]) == "--help")
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usage(argv[0]);
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else
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filename = argv[i];
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}
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RigidBodyDynamics::Model model;
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if (!RigidBodyDynamics::Addons::URDFReadFromFile(filename.c_str(), &model, floatbase, verbose)) {
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cerr << "Loading of urdf model failed!" << endl;
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return -1;
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}
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cout << "Model loading successful!" << endl;
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if (dof_overview) {
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cout << "Degree of freedom overview:" << endl;
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cout << RigidBodyDynamics::Utils::GetModelDOFOverview(model);
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}
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if (model_hierarchy) {
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cout << "Model Hierarchy:" << endl;
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cout << RigidBodyDynamics::Utils::GetModelHierarchy (model);
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}
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return 0;
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}
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