safety_controller.h

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#ifndef TESSERACT_URDF_SAFETY_CONTROLLER_H
#define TESSERACT_URDF_SAFETY_CONTROLLER_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
#include <string_view>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_scene_graph/fwd.h>
 
namespace tinyxml2
{
class XMLElement;  // NOLINT
class XMLDocument;
}  // namespace tinyxml2
 
namespace tesseract_urdf
{
static constexpr std::string_view SAFETY_CONTROLLER_ELEMENT_NAME = "safety_controller";
 
std::shared_ptr<tesseract_scene_graph::JointSafety> parseSafetyController(const tinyxml2::XMLElement* xml_element);
tinyxml2::XMLElement* writeSafetyController(const std::shared_ptr<const tesseract_scene_graph::JointSafety>& safety,
                                            tinyxml2::XMLDocument& doc);
 
}  // namespace tesseract_urdf
 
#endif  // TESSERACT_URDF_SAFETY_CONTROLLER_H