refactor of URDF importer (work-in-progress)

examples/Importers/ImportURDFDemo/MyURDFImporter.h

@@ -0,0 +1,41 @@
+#ifndef MY_URDF_IMPORTER_H
+#define MY_URDF_IMPORTER_H 
+
+#include "URDFImporterInterface.h"
+#include <vector> //temp, replace by btAlignedObjectArray
+
+#include "urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h"
+
+class MyURDFImporter : public URDFImporterInterface
+{
+    
+	struct MyURDFInternalData* m_data;
+    
+
+public:
+    
+
+	MyURDFImporter(my_shared_ptr<urdf::ModelInterface> robot,struct GUIHelperInterface* helper);
+    
+	virtual ~MyURDFImporter();
+	
+    virtual int getRootLinkIndex() const;
+    
+    virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
+
+    virtual std::string getLinkName(int linkIndex) const;
+    
+    virtual std::string getJointName(int linkIndex) const;
+    
+    virtual void  getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
+
+    virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit) const;
+
+	virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;
+
+	virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
+
+};
+
+
+#endif //MY_URDF_IMPORTER_H