SdfParser.hpp

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#ifndef DART_UTILS_SDFPARSER_HPP_
#define DART_UTILS_SDFPARSER_HPP_
 
#include "dart/common/Deprecated.hpp"
#include "dart/common/ResourceRetriever.hpp"
#include "dart/dynamics/Skeleton.hpp"
#include "dart/simulation/World.hpp"
 
namespace dart {
namespace utils {
 
namespace SdfParser {
 
enum class RootJointType
{
  FLOATING = 0,
 
  FIXED = 1,
};
 
struct Options
{
  common::ResourceRetrieverPtr mResourceRetriever;
 
  RootJointType mDefaultRootJointType;
 
  Options(
      common::ResourceRetrieverPtr resourceRetriever = nullptr,
      RootJointType defaultRootJointType = RootJointType::FLOATING);
};
 
DART_DEPRECATED(6.0)
simulation::WorldPtr readSdfFile(
    const common::Uri& uri,
    const common::ResourceRetrieverPtr& retriever = nullptr);
 
simulation::WorldPtr readWorld(
    const common::Uri& uri, const Options& options = Options());
 
DART_DEPRECATED(6.12)
simulation::WorldPtr readWorld(
    const common::Uri& uri,
    const common::ResourceRetrieverPtr& retriever);
 
dynamics::SkeletonPtr readSkeleton(
    const common::Uri& uri, const Options& options = Options());
 
DART_DEPRECATED(6.12)
dynamics::SkeletonPtr readSkeleton(
    const common::Uri& uri,
    const common::ResourceRetrieverPtr& retrievers);
 
} // namespace SdfParser
 
} // namespace utils
} // namespace dart
 
#endif // #ifndef DART_UTILS_SDFPARSER_HPP_