loadHRDF loads an hrdf file and parses HebiKinematics objects
This method is similar to HebiKinematics(hrdfFile) with
additional support for tree structures and multiple end
effectors.
More information and background on kinematics:
http://docs.hebi.us/core_concepts.html#kinematics
More information on the HEBI Robot Description Format (HRDF):
http://docs.hebi.us/tools.html#robot-description-format
Example
% Load an hrdf with a single end effector
kin = HebiUtils.loadHRDF(hrdfFile);
% Get the index mask corresponding to the used joints
[kin, mask] = HebiUtils.loadHRDF(hrdfFile);
position = fbk.position(mask);
FK = kin.getForwardKinematicsEndEffector(position);
% Get multiple end effectors and their corresponding masks
[~,~,kins,masks] = HebiUtils.loadHRDF(hrdfFile);
FK = cell(length(kins),1);
for i = 1:length(kins)
position = fbk.position(masks{i});
FK{i} = kins{i}.getForwardKinematicsEndEffector(position);
end