ckdl - KDL reading and writing for C, Python, C++

ckdl is a C (C11) library that implements reading and writing the KDL Document Language.

ckdl provides a simple “streaming“ API, inspired by SAX, instead of reading the entire document into a data structure. While this may be inconvenient to work with directly for most applications, the idea is to enable bindings for different languages which can then read the document into a suitable data structure relatively directly.

This repository currently contains language bindings for:

• Python
• C++20

The C and C++ parts are built with CMake.

To install the Python bindings, run

pip install ckdl

For more details about how to build and use ckdl, check out the documentation on RTD or under doc/ in this repository.

Status

ckdl has full support for KDL 2.0.0 and KDL 1.0.0. The parser passes the upstream test suite.

By default, the parser will allow documents of either KDL version. You can restrict the parser to one version or the other using parse options.