MjcfParser.hpp

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#ifndef DART_UTILS_MJCFPARSER_HPP_
#define DART_UTILS_MJCFPARSER_HPP_
 
#include <string>
 
#include "dart/common/LocalResourceRetriever.hpp"
#include "dart/common/Uri.hpp"
#include "dart/simulation/World.hpp"
 
namespace dart {
namespace utils {
namespace MjcfParser {
 
struct Options
{
  common::ResourceRetrieverPtr mRetriever;
 
  std::string mGeomSkeletonNamePrefix;
 
  std::string mSiteSkeletonNamePrefix;
 
  Options(
      const common::ResourceRetrieverPtr& retrieverOrNullptr = nullptr,
      const std::string& geomSkeletonNamePrefix = "__geom_skel__",
      const std::string& siteSkeletonNamePrefix = "__site_skel__");
};
 
simulation::WorldPtr readWorld(
    const common::Uri& uri, const Options& options = Options());
 
} // namespace MjcfParser
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_MJCFPARSER_HPP_