mesh.h

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#ifndef TESSERACT_URDF_MESH_H
#define TESSERACT_URDF_MESH_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
#include <vector>
#include <string_view>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/fwd.h>
#include <tesseract_geometry/fwd.h>
 
namespace tinyxml2
{
class XMLElement;  // NOLINT
class XMLDocument;
}  // namespace tinyxml2
 
namespace tesseract_urdf
{
static constexpr std::string_view MESH_ELEMENT_NAME = "mesh";
 
std::vector<std::shared_ptr<tesseract_geometry::PolygonMesh>>
parseMesh(const tinyxml2::XMLElement* xml_element,
          const tesseract_common::ResourceLocator& locator,
          bool visual,
          bool make_convex);
 
tinyxml2::XMLElement* writeMesh(const std::shared_ptr<const tesseract_geometry::PolygonMesh>& mesh,
                                tinyxml2::XMLDocument& doc,
                                const std::string& package_path,
                                const std::string& filename);
 
}  // namespace tesseract_urdf
 
#endif  // TESSERACT_URDF_MESH_H