InterfaceElements.hh

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/*
 * Copyright 2021 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef SDF_INTERFACE_ELEMENTS_HH_
#define SDF_INTERFACE_ELEMENTS_HH_

#include <string>
#include <memory>

#include <ignition/math/Pose3.hh>

#include "sdf/Element.hh"
#include "sdf/InterfaceModel.hh"
#include "sdf/Types.hh"

#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"

namespace sdf
{
inline namespace SDF_VERSION_NAMESPACE
{
#ifdef _WIN32
// Disable warning C4251 which is triggered by std::string
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
struct SDFORMAT_VISIBLE NestedInclude
{
  std::string uri;

  std::string resolvedFileName;

  std::string absoluteParentName;

  std::optional<std::string> localModelName;

  std::optional<bool> isStatic;

  std::optional<ignition::math::Pose3d> includeRawPose;

  std::optional<std::string> includePoseRelativeTo;

  std::optional<std::string> placementFrame;

  sdf::ElementPtr includeElement;
};
#ifdef _MSC_VER
#pragma warning(pop)
#endif

using CustomModelParser =
    std::function<sdf::InterfaceModelPtr(const sdf::NestedInclude &, Errors &)>;
}
}

#endif