point_cloud.h

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#ifndef TESSERACT_URDF_POINT_CLOUD_H
#define TESSERACT_URDF_POINT_CLOUD_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
#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 POINT_CLOUD_ELEMENT_NAME = "tesseract:point_cloud";
 
std::shared_ptr<tesseract_geometry::Octree> parsePointCloud(const tinyxml2::XMLElement* xml_element,
                                                            const tesseract_common::ResourceLocator& locator,
                                                            tesseract_geometry::OctreeSubType shape_type,
                                                            bool prune);
}  // namespace tesseract_urdf
 
#endif  // TESSERACT_URDF_POINT_CLOUD_H