model.h

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/* Author: Wim Meeussen */

#ifndef URDF__MODEL_H_
#define URDF__MODEL_H_

#include <string>

#include <urdf_model/model.h>
#include <urdf/urdfdom_compatibility.h>
#include <tinyxml.h>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#include <ros/ros.h>

#include "urdf/visibility_control.hpp"

namespace urdf
{

class Model : public ModelInterface
{
public:
  URDF_EXPORT bool initXml(TiXmlElement * xml);
  URDF_EXPORT bool initXml(TiXmlDocument * xml);
  URDF_EXPORT bool initFile(const std::string & filename);
  URDF_EXPORT bool initParam(const std::string & param);
  URDF_EXPORT bool initParamWithNodeHandle(const std::string & param,
    const ros::NodeHandle & nh = ros::NodeHandle());
  URDF_EXPORT bool initString(const std::string & xmlstring);
};

// shared_ptr declarations moved to urdf/urdfdom_compatibility.h to allow for
// std::shared_ptrs in latest version

}  // namespace urdf

#endif  // URDF__MODEL_H_