ros-planning/moveit_core — pull request #189 by davetcoleman (2014-07-31 08:32:50+00:00)
Title: Getter for all tips (links) of every end effector in a joint model group

Each semantic end effector defined in the SRDF has a parent link that attaches it to the kinematics of the robot. This function will give you all the parent links, or tips as they are sometimes referred to in code. It returns them as LinkModels or strings. This is useful for multi-tip robots like humanoids.