We have added some new features in URDF 1.1 and 1.2 (see the urdfdom README), and we consider the URDF version when parsing files in urdfdom 5.1 and 6.0, but I'm now wondering how users of the urdfdom_headers data structure should know which features are available?
Currently the only way I can think to do this is to check the urdfdom_headers package version and map from that version to when features were released:
| Feature |
min urdfdom_headers package version |
| Capsule geometry |
2.1.0 |
| Joint acceleration limit |
3.0.0 |
| Joint deceleration limit |
3.0.0 |
| Joint jerk limit. |
3.0.0 |
We could consider adding a URDF version field (either a struct or a pair of ints) to the urdf::ModelInterface class, or defining symbols in a header file corresponding to the available features.
We have added some new features in URDF 1.1 and 1.2 (see the urdfdom README), and we consider the URDF version when parsing files in urdfdom 5.1 and 6.0, but I'm now wondering how users of the
urdfdom_headersdata structure should know which features are available?Currently the only way I can think to do this is to check the
urdfdom_headerspackage version and map from that version to when features were released:We could consider adding a URDF version field (either a struct or a pair of
ints) to theurdf::ModelInterfaceclass, or defining symbols in a header file corresponding to the available features.