Asset.hpp

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#ifndef DART_UTILS_MJCF_DETAIL_ASSET_HPP_
#define DART_UTILS_MJCF_DETAIL_ASSET_HPP_
 
#include <unordered_map>
#include <vector>
 
#include <tinyxml2.h>
 
#include "dart/utils/mjcf/detail/Compiler.hpp"
#include "dart/utils/mjcf/detail/Error.hpp"
#include "dart/utils/mjcf/detail/Mesh.hpp"
 
namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {
 
class Body;
 
class Asset final
{
public:
  Asset() = default;
 
 
  std::size_t getNumMeshes() const;
 
  const Mesh& getMesh(std::size_t index) const;
 
  const Mesh* getMesh(const std::string& name) const;
 
 
private:
  // Private members used by MujocoModel class
  friend class MujocoModel;
  Errors read(tinyxml2::XMLElement* element);
 
  Errors preprocess(const Compiler& compiler);
 
  Errors compile(const Compiler& compiler);
 
  Errors postprocess(const Compiler& compiler);
 
private:
  std::vector<Mesh> mMeshes;
  std::unordered_map<std::string, Mesh*> mMeshMap;
};
 
} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_MJCF_DETAIL_ASSET_HPP_