urdf_world_parser.hpp

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/* Author: A. Huaman */
/* @date 2013/06/20 */
 
#pragma once
 
#include <string>
 
#include <urdf_model/model.h>
#include <urdf_model/pose.h>
#include <urdf_model/twist.h>
#include <urdf_world/world.h>
 
#include "dart/common/ResourceRetriever.hpp"
#include "dart/common/Uri.hpp"
#include "dart/utils/urdf/BackwardCompatibility.hpp"
 
namespace dart {
namespace utils {
namespace urdf_parsing {
 
class Entity
{
public:
  Entity() = default;
 
  Entity(const urdf::Entity& urdfEntity);
 
  urdf_shared_ptr<urdf::ModelInterface> model;
  urdf::Pose origin;
  urdf::Twist twist;
 
  dart::common::Uri uri;
};
 
class World
{
public:
  std::string name;
  std::vector<Entity> models;
};
 
std::shared_ptr<World> parseWorldURDF(
    const std::string& xml_string,
    const dart::common::Uri& _baseUri,
    const common::ResourceRetrieverPtr& retriever);
 
} // namespace urdf_parsing
} // namespace utils
} // namespace dart