link.h

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#ifndef TESSERACT_URDF_LINK_H
#define TESSERACT_URDF_LINK_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
#include <unordered_map>
#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 LINK_ELEMENT_NAME = "link";
 
std::shared_ptr<tesseract_scene_graph::Link>
parseLink(const tinyxml2::XMLElement* xml_element,
          const tesseract_common::ResourceLocator& locator,
          bool make_convex_meshes,
          std::unordered_map<std::string, std::shared_ptr<tesseract_scene_graph::Material>>& available_materials);
 
tinyxml2::XMLElement* writeLink(const std::shared_ptr<const tesseract_scene_graph::Link>& link,
                                tinyxml2::XMLDocument& doc,
                                const std::string& package_path);
 
}  // namespace tesseract_urdf
#endif  // TESSERACT_URDF_LINK_H