parser_urdf.hh

Go to the documentation of this file.

/*
 * Copyright 2012 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 SDFORMAT_URDF2SDF_HH_
#define SDFORMAT_URDF2SDF_HH_

#include <tinyxml.h>
#include <sdf/sdf_config.h>

#include <string>

#include "sdf/Console.hh"
#include "sdf/system_util.hh"

namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //

  class SDFORMAT_VISIBLE URDF2SDF
  {
    public: URDF2SDF();

    public: ~URDF2SDF();

    public: TiXmlDocument InitModelDoc(TiXmlDocument* _xmlDoc);

    public: TiXmlDocument InitModelFile(const std::string &_filename);

    public: TiXmlDocument InitModelString(const std::string &_urdfStr,
                                          bool _enforceLimits = true);

    public: static bool IsURDF(const std::string &_filename);

    private: void ParseSDFExtension(TiXmlDocument &_urdfXml);

    private: void ListSDFExtensions();

    private: void ListSDFExtensions(const std::string &_reference);
  };
  }
}
#endif