joint_parser.h

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#ifndef TINYURDF_JOINTPARSER_H
#define TINYURDF_JOINTPARSER_H
 
// Copyright 2025 Wissem CHIHA
 
#include <memory>
#include <string>
 
#include <tinyxml2/tinyxml2.h>
#include <loguru/loguru.hpp>
 
#include "pose.h"
#include "joint.h"
#include "utils.h"
#include "parser_base.h"
#include "pose_parser.h"
#include "property_parser.h"
 
class JointParser : public ParserBase<Joint>{
public:
  JointParser();
  void parse(const tinyxml2::XMLElement* xml) override;
  const char* getTypename() override;
  std::shared_ptr<Joint> get() override;
  void clear() override;
  bool empty() const override;
  void print(std::ostream& os) override;
  bool isA(const char* name) override;
  ~JointParser();
private:
    std::shared_ptr<Joint> p_;
  };
#endif // TINYURDF_JOINTPARSER_H