visual_parser.h

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#ifndef INCLUDE_TINYURDF_INTERNAL_VISUAL_PARSER_H_
#define INCLUDE_TINYURDF_INTERNAL_VISUAL_PARSER_H_
 
// Copyright 2025 Wissem CHIHA
 
#include "common/geometry_base.h"
#include "common/parser_base.h"
#include "core/box.h"
#include "core/cylinder.h"
#include "core/material.h"
#include "core/mesh.h"
#include "core/sphere.h"
#include "core/visual.h"
#include "internal/geometry_parser.h"
#include "internal/material_parser.h"
#include "internal/pose_parser.h"
#include "utility/utils.h"
 
class VisualParser final : public ParserBase<Visual>
{
 public:
  VisualParser();
  std::string toString() const override;
  bool empty() const override;
  void clear() override;
  const char* getTypename() const override;
  bool isA(const char* name) const override;
  void parse(const tinyxml2::XMLElement* xml) override;
  std::shared_ptr<Visual> get() override;
  ~VisualParser();
 
 private:
  std::shared_ptr<Visual> p_;
};
#endif  // INCLUDE_TINYURDF_INTERNAL_VISUAL_PARSER_H_