world.h

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#ifndef INCLUDE_TINYURDF_CORE_WORLD_H_
#define INCLUDE_TINYURDF_CORE_WORLD_H_
 
// Copyright 2025 Wissem CHIHA
 
#include <loguru/loguru.hpp>
#include <vector>
 
#include "common/object_base.h"
#include "core/model.h"
#include "core/pose.h"
 
template <typename... PropertyBase>
class Entity : public ObjectBase
{
 public:
  void clear();
 
 private:
  std::shared_ptr<Model> model;
  Pose origin;
};
 
template <typename... PropertyBase>
class World : public ObjectBase
{
 public:
  World();
  void clear();
 
 private:
  std::shared_ptr<std::string> name = nullptr;
  std::vector<Entity<PropertyBase...>> models;
};
#endif  //  INCLUDE_TINYURDF_CORE_WORLD_H_