rdf_loader.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_RDF_LOADER_
#define MOVEIT_PLANNING_RDF_LOADER_

#include <moveit/macros/class_forward.h>
#include <urdf/model.h>
#include <srdfdom/model.h>
#include <boost/shared_ptr.hpp>
#include <tinyxml.h>

namespace rdf_loader
{
MOVEIT_CLASS_FORWARD(RDFLoader);

class RDFLoader
{
public:
  RDFLoader(const std::string& robot_description = "robot_description");

  RDFLoader(const std::string& urdf_string, const std::string& srdf_string);

  RDFLoader(TiXmlDocument* urdf_doc, TiXmlDocument* srdf_doc);

  const std::string& getRobotDescription() const
  {
    return robot_description_;
  }

  const boost::shared_ptr<urdf::ModelInterface>& getURDF() const
  {
    return urdf_;
  }

  const boost::shared_ptr<srdf::Model>& getSRDF() const
  {
    return srdf_;
  }

private:
  std::string robot_description_;
  boost::shared_ptr<srdf::Model> srdf_;
  boost::shared_ptr<urdf::ModelInterface> urdf_;
};
}
#endif