collision.h

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#ifndef TESSERACT_URDF_COLLISION_H
#define TESSERACT_URDF_COLLISION_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
#include <string_view>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/fwd.h>
#include <tesseract_scene_graph/fwd.h>
 
namespace tinyxml2
{
class XMLElement;  // NOLINT
class XMLDocument;
}  // namespace tinyxml2
 
namespace tesseract_urdf
{
static constexpr std::string_view COLLISION_ELEMENT_NAME = "collision";
 
std::shared_ptr<tesseract_scene_graph::Collision> parseCollision(const tinyxml2::XMLElement* xml_element,
                                                                 const tesseract_common::ResourceLocator& locator,
                                                                 bool make_convex_meshes);
 
tinyxml2::XMLElement* writeCollision(const std::shared_ptr<const tesseract_scene_graph::Collision>& collision,
                                     tinyxml2::XMLDocument& doc,
                                     const std::string& package_path,
                                     const std::string& link_name,
                                     int id);
 
}  // namespace tesseract_urdf
 
#endif  // TESSERACT_URDF_COLLISION_H