urdf_parser.h

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#ifndef TESSERACT_URDF_URDF_PARSER_H
#define TESSERACT_URDF_URDF_PARSER_H
 
#include <tesseract_scene_graph/graph.h>
#include <tesseract_common/resource_locator.h>
 
namespace tesseract_urdf
{
tesseract_scene_graph::SceneGraph::UPtr parseURDFString(const std::string& urdf_xml_string,
                                                        const tesseract_common::ResourceLocator& locator);
 
tesseract_scene_graph::SceneGraph::UPtr parseURDFFile(const std::string& path,
                                                      const tesseract_common::ResourceLocator& locator);
 
void writeURDFFile(const tesseract_scene_graph::SceneGraph::ConstPtr& sg,
                   const std::string& package_path,
                   const std::string& urdf_name = "");
}  // namespace tesseract_urdf
 
#endif