rdf_loader.h

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/* Author: Ioan Sucan, Mathias Lüdtke, Dave Coleman */

#ifndef MOVEIT_PLANNING_RDF_LOADER_
#define MOVEIT_PLANNING_RDF_LOADER_

#include <moveit/macros/class_forward.h>
#include <urdf/model.h>
#include <srdfdom/model.h>

class TiXmlDocument;

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 urdf::ModelInterfaceSharedPtr& getURDF() const
  {
    return urdf_;
  }

  const srdf::ModelSharedPtr& getSRDF() const
  {
    return srdf_;
  }

  static bool isXacroFile(const std::string& path);

  static bool loadFileToString(std::string& buffer, const std::string& path);

  static bool loadXacroFileToString(std::string& buffer, const std::string& path,
                                    const std::vector<std::string>& xacro_args);

  static bool loadXmlFileToString(std::string& buffer, const std::string& path,
                                  const std::vector<std::string>& xacro_args);

  static bool loadPkgFileToString(std::string& buffer, const std::string& package_name,
                                  const std::string& relative_path, const std::vector<std::string>& xacro_args);

private:
  std::string robot_description_;
  srdf::ModelSharedPtr srdf_;
  urdf::ModelInterfaceSharedPtr urdf_;
};
}
#endif