parser_urdf.hh
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1 /*
2  * Copyright 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef SDFORMAT_URDF2SDF_HH_
18 #define SDFORMAT_URDF2SDF_HH_
19 
20 #include <tinyxml.h>
21 #include <sdf/sdf_config.h>
22 
23 #include <string>
24 
25 #include "sdf/Console.hh"
26 #include "sdf/Types.hh"
27 #include "sdf/system_util.hh"
28 
29 namespace sdf
30 {
31  // Inline bracket to help doxygen filtering.
32  inline namespace SDF_VERSION_NAMESPACE {
33  //
34 
40  class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
41  {
43  public: URDF2SDF();
44 
46  public: ~URDF2SDF();
47 
51  public: TiXmlDocument InitModelDoc(TiXmlDocument* _xmlDoc);
52 
56  public: TiXmlDocument InitModelFile(const std::string &_filename);
57 
63  public: TiXmlDocument InitModelString(const std::string &_urdfStr,
64  bool _enforceLimits = true);
65 
69  public: static bool IsURDF(const std::string &_filename);
70 
73  private: void ParseSDFExtension(TiXmlDocument &_urdfXml);
74 
76  // cppcheck-suppress unusedPrivateFunction
77  // cppcheck-suppress unmatchedSuppression
78  private: void ListSDFExtensions();
79 
81  // cppcheck-suppress unusedPrivateFunction
82  // cppcheck-suppress unmatchedSuppression
83  private: void ListSDFExtensions(const std::string &_reference);
84  };
85  }
86 }
87 #endif
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:32
Console.hh
Types.hh
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
sdf::v9::SDF_DEPRECATED
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
system_util.hh