point_cloud.h

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#ifndef TESSERACT_URDF_POINT_CLOUD_H
#define TESSERACT_URDF_POINT_CLOUD_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_geometry/impl/octree.h>
 
namespace tinyxml2
{
class XMLElement;  // NOLINT
class XMLDocument;
}  // namespace tinyxml2
 
namespace tesseract_common
{
class ResourceLocator;
}
 
namespace tesseract_urdf
{
std::shared_ptr<tesseract_geometry::Octree> parsePointCloud(const tinyxml2::XMLElement* xml_element,
                                                            const tesseract_common::ResourceLocator& locator,
                                                            tesseract_geometry::Octree::SubType shape_type,
                                                            bool prune,
                                                            int version);
}  // namespace tesseract_urdf
 
#endif  // TESSERACT_URDF_POINT_CLOUD_H