urdf_parser.h

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#ifndef TESSERACT_URDF_URDF_PARSER_H
#define TESSERACT_URDF_URDF_PARSER_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <string>
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_scene_graph/fwd.h>
#include <tesseract_common/fwd.h>
 
namespace tesseract_urdf
{
std::unique_ptr<tesseract_scene_graph::SceneGraph> parseURDFString(const std::string& urdf_xml_string,
                                                                   const tesseract_common::ResourceLocator& locator);
 
std::unique_ptr<tesseract_scene_graph::SceneGraph> parseURDFFile(const std::string& path,
                                                                 const tesseract_common::ResourceLocator& locator);
 
void writeURDFFile(const std::shared_ptr<const tesseract_scene_graph::SceneGraph>& sg,
                   const std::string& package_path,
                   const std::string& urdf_name = "");
}  // namespace tesseract_urdf
 
#endif