Equality.hpp

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#ifndef DART_UTILS_MJCF_DETAIL_EQUALITY_HPP_
#define DART_UTILS_MJCF_DETAIL_EQUALITY_HPP_
 
#include <vector>
 
#include <tinyxml2.h>
 
#include "dart/utils/mjcf/detail/Error.hpp"
#include "dart/utils/mjcf/detail/Weld.hpp"
 
namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {
 
class Equality final
{
public:
  Equality() = default;
 
  std::size_t getNumWelds() const;
  const Weld& getWeld(std::size_t index) const;
 
private:
  // Private memebers used by MujocoModel class
  friend class MujocoModel;
  Errors read(tinyxml2::XMLElement* element, const Defaults& defaults);
 
private:
  std::vector<Weld> mWelds;
};
 
} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_MJCF_DETAIL_EQUALITY_HPP_