model_parser.h

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#ifndef INCLUDE_TINYURDF_INTERNAL_MODEL_PARSER_H_
#define INCLUDE_TINYURDF_INTERNAL_MODEL_PARSER_H_
 
// Copyright 2024-2025 Wissem CHIHA
 
#include <tinyxml2/tinyxml2.h>
 
#include <loguru/loguru.hpp>
 
#include "common/parser_base.h"
#include "core/model.h"
#include "internal/joint_parser.h"
#include "internal/link_parser.h"
 
class ModelParser final : public ParserBase<Model>
{
 public:
  ModelParser();
  void parse(const tinyxml2::XMLElement* xml) override;
  std::shared_ptr<Model> get() override;
  std::string toString() const override;
  bool isA(const char* name) const override;
  bool empty() const override;
  void clear() override;
  const char* getTypename() const override;
 
 private:
  std::shared_ptr<Model> p_;
};
#endif  // INCLUDE_TINYURDF_INTERNAL_MODEL_PARSER_H_