visual.h

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#ifndef TESSERACT_URDF_VISUAL_H
#define TESSERACT_URDF_VISUAL_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 VISUAL_ELEMENT_NAME = "visual";
 
std::shared_ptr<tesseract_scene_graph::Visual>
parseVisual(const tinyxml2::XMLElement* xml_element,
            const tesseract_common::ResourceLocator& locator,
            std::unordered_map<std::string, std::shared_ptr<tesseract_scene_graph::Material>>& available_materials);
 
tinyxml2::XMLElement* writeVisual(const std::shared_ptr<const tesseract_scene_graph::Visual>& visual,
                                  tinyxml2::XMLDocument& doc,
                                  const std::string& package_path,
                                  const std::string& link_name,
                                  int id);
 
}  // namespace tesseract_urdf
 
#endif  // TESSERACT_URDF_VISUAL_H