17 #ifndef SDFORMAT_URDF2SDF_HH_
18 #define SDFORMAT_URDF2SDF_HH_
21 #include <sdf/sdf_config.h>
32 inline namespace SDF_VERSION_NAMESPACE {
51 public: TiXmlDocument InitModelDoc(TiXmlDocument* _xmlDoc);
56 public: TiXmlDocument InitModelFile(
const std::string &_filename);
63 public: TiXmlDocument InitModelString(
const std::string &_urdfStr,
64 bool _enforceLimits =
true);
69 public:
static bool IsURDF(
const std::string &_filename);
73 private:
void ParseSDFExtension(TiXmlDocument &_urdfXml);
78 private:
void ListSDFExtensions();
83 private:
void ListSDFExtensions(
const std::string &_reference);