utils.h

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#ifndef TESSERACT_URDF_UTILS_H
#define TESSERACT_URDF_UTILS_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <sstream>
#include <string>
 
// #include <assimp/scene.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_geometry/impl/polygon_mesh.h>
 
namespace tesseract_urdf
{
std::string toString(const double& float_value, int precision = 3);
 
std::string trailingSlash(const std::string& path);
 
std::string noTrailingSlash(const std::string& path);
 
std::string noLeadingSlash(const std::string& filename);
 
std::string makeURDFFilePath(const std::string& package_path, const std::string& filename);
 
/* Commented out due to nebulous errors during initial testing.
 * If errors are resolved, this is probably superior to the writeSimplePLY method used.
aiScene createAssetFromMesh(const std::shared_ptr<const tesseract_geometry::PolygonMesh>& mesh);
*/
 
void writeMeshToFile(const std::shared_ptr<const tesseract_geometry::PolygonMesh>& mesh, const std::string& filepath);
 
}  // namespace tesseract_urdf
 
#endif  // TESSERACT_URDF_UTILS_H