urdf_parser.h

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#ifndef INCLUDE_TINYURDF_URDF_PARSER_H_
#define INCLUDE_TINYURDF_URDF_PARSER_H_
 
// Copyright 2025 Wissem CHIHA
 
#include <string>
#include <memory>
#include <iostream>
 
#include <tinyxml2/tinyxml2.h>
 
#include "model.h"
#include "version.h"
#include "version_parser.h"
#include "parser_base.h"
#include "model_parser.h"
 
class URDFParser : public ParserBase<Model>{   
public:
    URDFParser();
    void parse(const std::string& filename);
    void parse(const char* filename);
    void parse(const tinyxml2::XMLElement* xml) override;
    std::shared_ptr<Model> get() override;
    void print(std::ostream& os) override;
    bool isA(const char* name) override;
    bool empty() const override;
    void clear() override;
    const char* getTypename() override;
    ~URDFParser();
private:
    std::shared_ptr<Model> model_;
};
#endif  // TINYURDF_URDF_PARSER_H_