add alternative URDF parser that doens't use ROS urdf

examples/Importers/ImportURDFDemo/urdfStringSplit.h

@@ -0,0 +1,30 @@
+
+#ifndef STRING_SPLIT_H
+#define STRING_SPLIT_H
+
+#include <cstring>
+#include <string>
+#include "LinearMath/btAlignedObjectArray.h"
+
+
+void urdfStringSplit( btAlignedObjectArray<std::string>&pieces, const std::string& vector_str, btAlignedObjectArray<std::string> separators);
+
+btAlignedObjectArray<std::string> urdfIsAnyOf(const char* seps);
+
+///The string split C code is by Lars Wirzenius
+///See http://stackoverflow.com/questions/2531605/how-to-split-a-string-with-a-delimiter-larger-than-one-single-char
+
+
+/* Split a string into substrings. Return dynamic array of dynamically
+ allocated substrings, or NULL if there was an error. Caller is
+ expected to free the memory, for example with str_array_free. */
+char**	urdfStrSplit(const char* input, const char* sep);
+
+/* Free a dynamic array of dynamic strings. */
+void urdfStrArrayFree(char** array);
+
+/* Return length of a NULL-delimited array of strings. */
+size_t urdfStrArrayLen(char** array);
+
+#endif //STRING_SPLIT_H
+