Klamp't  0.9.0
urdf_parser.h
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34 
35 /* Author: Wim Meeussen */
36 
37 #ifndef URDF_PARSER_URDF_PARSER_H
38 #define URDF_PARSER_URDF_PARSER_H
39 
40 #include <string>
41 #include <map>
42 #include <tinyxml.h>
43 #include "urdf_model.h"
44 #include "urdf_world.h"
45 #include "urdf_color.h"
46 
47 namespace urdf_export_helpers {
48 
49 std::string values2str(unsigned int count, const double *values, double (*conv)(double) = NULL);
50 std::string values2str(urdf::Vector3 vec);
51 std::string values2str(urdf::Rotation rot);
52 std::string values2str(urdf::Color c);
53 std::string values2str(double d);
54 
55 }
56 
57 namespace urdf{
58 
59  std::shared_ptr<ModelInterface> parseURDF(const std::string &xml_string);
60  TiXmlDocument* exportURDF(std::shared_ptr<ModelInterface> &model);
61  // Added functions by achq on 2012/10/13 ********* //
62  bool isObjectURDF( const std::string &_xml_string );
63  bool isRobotURDF( const std::string &_xml_string );
64  std::shared_ptr<World> parseWorldURDF(const std::string &xml_string, std::string _path );
65  // ********************************************** //
66 }
67 
68 #endif
Definition: urdf_parser.h:47
Definition: urdf_color.h:52
Definition: urdf_pose.h:96
Definition: urdf_color.h:46
Definition: urdf_pose.h:54