.. _program_listing_file_include_urdf_model.h:

Program Listing for File model.h
================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_urdf_model.h>` (``include/urdf/model.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Wim Meeussen */
   
   #ifndef URDF__MODEL_H_
   #define URDF__MODEL_H_
   
   #include <memory>
   #include <string>
   
   #include "urdf_model/model.h"
   
   #include "urdf/urdfdom_compatibility.h"
   #include "urdf/visibility_control.hpp"
   
   namespace urdf
   {
   
   // PIMPL Forward Declaration
   class ModelImplementation;
   
   class Model : public ModelInterface
   {
   public:
     URDF_EXPORT
     Model();
   
     URDF_EXPORT
     ~Model();
   
     URDF_EXPORT bool initFile(const std::string & filename);
   
     URDF_EXPORT bool initString(const std::string & xmlstring);
   
   private:
     std::unique_ptr<ModelImplementation> impl_;
   };
   
   // shared_ptr declarations moved to urdf/urdfdom_compatibility.h to allow for
   // std::shared_ptrs in latest version
   
   }  // namespace urdf
   
   #endif  // URDF__MODEL_H_