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/* Author: Wim Meeussen */

#include <iostream>
#include <string>

#include "kdl_parser/kdl_parser.hpp"
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/frames_io.hpp>
#include <urdf_model/model.h>
#include <urdf_parser/urdf_parser.h>

void printLink(const KDL::SegmentMap::const_iterator & link, const std::string & prefix)
{
  std::cout << prefix << "- Segment " << GetTreeElementSegment(link->second).getName() <<
    " has " << GetTreeElementChildren(link->second).size() << " children" << std::endl;
  for (unsigned int i = 0; i < GetTreeElementChildren(link->second).size(); i++) {
    printLink(GetTreeElementChildren(link->second)[i], prefix + "  ");
  }
}


int main(int argc, char ** argv)
{
  if (argc < 2) {
    std::cerr << "Expect xml file to parse" << std::endl;
    return -1;
  }
  urdf::ModelInterfaceSharedPtr robot_model = urdf::parseURDFFile(argv[1]);
  if (!robot_model) {
    std::cerr << "Could not generate robot model" << std::endl;
    return false;
  }

  KDL::Tree my_tree;
  if (!kdl_parser::treeFromUrdfModel(*robot_model, my_tree)) {
    std::cerr << "Could not extract kdl tree" << std::endl;
    return false;
  }

  // walk through tree
  std::cout << " ======================================" << std::endl;
  std::cout << " Tree has " << my_tree.getNrOfSegments() << " link(s) and a root link" << std::endl;
  std::cout << " ======================================" << std::endl;
  KDL::SegmentMap::const_iterator root = my_tree.getRootSegment();
  printLink(root, "");
}
