sphere_parser.h

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#ifndef INCLUDE_TINYURDF_GEOMETRY_SPHERE_PARSER_H_
#define INCLUDE_TINYURDF_GEOMETRY_SPHERE_PARSER_H_
 
// Copyright 2025 Wissem CHIHA
 
#include "parser_base.h"
#include "sphere.h"
#include "utils.h"
 
class SphereParser : public ParserBase<Sphere> {
 public:
  SphereParser() {
    p_ = std::make_shared<Sphere>();
  }
 
  void parse(const tinyxml2::XMLElement* xml) override {
    ParserBase<Sphere>::parse(xml);
 
    const char* radius_str = xml->Attribute("radius");
    if (radius_str) {
      double r;
      str2double(radius_str, r);
      p_ = std::make_shared<Sphere>();
      p_->setRadius(r);
    }
  }
 
  bool isA(const char* name) override {
    return p_->isA(name);
  }
 
  const char* getTypename() override {
    return p_->getTypename();
  }
 
  void print(std::ostream& os) override {
    os << "Parsed Sphere = [";
    p_->print(os);
    os << "]";
  }
 
  bool empty() const override {
    return p_ == nullptr;
  }
 
  void clear() override {
    p_->clear();
  }
 
  std::shared_ptr<Sphere> get() override {
    return p_;
  }
 
  ~SphereParser() = default;
 
 private:
  std::shared_ptr<Sphere> p_;
};
#endif  // INCLUDE_TINYURDF_GEOMETRY_SPHERE_PARSER_H_