From ef9fd3043634ed5a94e15a8fc6fe9c02a5f83860 Mon Sep 17 00:00:00 2001
From: Tyler Marr <41449746+marrts@users.noreply.github.com>
Date: Fri, 13 Oct 2023 09:03:42 -0500
Subject: [PATCH] Replaced the implementation of
 tesseract_kinematics::parseSceneGraph (#947)

---
 tesseract_kinematics/kdl/src/kdl_utils.cpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/tesseract_kinematics/kdl/src/kdl_utils.cpp b/tesseract_kinematics/kdl/src/kdl_utils.cpp
index 88081fb1417..31d4df53a69 100644
--- a/tesseract_kinematics/kdl/src/kdl_utils.cpp
+++ b/tesseract_kinematics/kdl/src/kdl_utils.cpp
@@ -156,4 +156,15 @@ bool parseSceneGraph(KDLChainData& results,
 
   return true;
 }
+
+bool parseSceneGraph(KDLChainData& results,
+                     const tesseract_scene_graph::SceneGraph& scene_graph,
+                     const std::string& base_name,
+                     const std::string& tip_name)
+{
+  std::vector<std::pair<std::string, std::string>> chains;
+  chains.emplace_back(base_name, tip_name);
+  return parseSceneGraph(results, scene_graph, chains);
+}
+
 }  // namespace tesseract_kinematics