pose_parser.h

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#ifndef INCLUDE_TINYURDF_POSE_POSE_PARSER_H_
#define INCLUDE_TINYURDF_POSE_POSE_PARSER_H_
 
// Copyright 2025 Wissem CHIHA
 
#include <memory>
#include "pose.h"
#include "parser_base.h"
#include "utils.h"
 
class PoseParser : public ParserBase<Pose> {
 public:
  PoseParser() {
    this->p_ = std::make_shared<Pose>();
  }
 
  void print(std::ostream& os) override {
    os << "Parsed Pose = [";
    p_->print(os);
    os << "]";
  }
 
  bool empty() const override {
    return false;
  }
 
  void clear() override {
    p_->clear();
  }
 
  const char* getTypename() override {
    return "pose";
  }
 
  bool isA(const char* name) override {
    return isA(name);
  }
 
  void parse(const tinyxml2::XMLElement* xml) override {
    ParserBase<Pose>::parse(xml);
 
    const char* xyz_str = xml->Attribute("xyz");
    const char* rpy_str = xml->Attribute("rpy");
 
    if (xyz_str) {
      double v[3];
      str2array(xyz_str, v);
      p_->setPosition(v[0], v[1], v[2]);
    }
 
    if (rpy_str) {
      double r[3];
      str2array(rpy_str, r);
      p_->setRotation(r[0], r[1], r[2]);
    }
  }
 
  std::shared_ptr<Pose> get() override {
    return p_;
  }
 
 private:
  std::shared_ptr<Pose> p_;
};
 
#endif  // INCLUDE_TINYURDF_POSE_POSE_PARSER_H_