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.
ckdl has full support for KDL 1.0.0 and passes the upstream test suite.
ckdl has experimental (opt-in) support for a draft version of KDL 2.0.0. For the time being, KDLv2 support has to be explicitly requested via parser/emitter options; this behaviour is subject to change once KDLv2 is finalized.
The parser also supports a hybrid mode that accepts both KDLv2 and KDLv1 documents.