urdf_parser.h

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/* Author: Wim Meeussen */

#ifndef URDF_PARSER_URDF_PARSER_H
#define URDF_PARSER_URDF_PARSER_H

#include <string>
#include <map>
#include <tinyxml.h>
#include "urdf_model.h"
#include "urdf_world.h"
#include "urdf_color.h"

namespace urdf_export_helpers {

std::string values2str(unsigned int count, const double *values, double (*conv)(double) = NULL);
std::string values2str(urdf::Vector3 vec);
std::string values2str(urdf::Rotation rot);
std::string values2str(urdf::Color c);
std::string values2str(double d);

}

namespace urdf{

  std::shared_ptr<ModelInterface> parseURDF(const std::string &xml_string);
  TiXmlDocument*  exportURDF(std::shared_ptr<ModelInterface> &model);
   // Added functions by achq on 2012/10/13  ********* //
  bool isObjectURDF( const std::string &_xml_string );
  bool isRobotURDF( const std::string &_xml_string );
  std::shared_ptr<World> parseWorldURDF(const std::string &xml_string, std::string _path );
  // ********************************************** //
}

#endif