/usr/include/kido/utils/urdf/urdf_world_parser.hpp is in libkido-utils-dev 0.1.0+dfsg-2build9.
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* Copyright (c) 2013, Humanoid Robotics Lab.
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/* Author: A. Huaman */
/* @date 2013/06/20 */
#pragma once
#include <string>
#include <urdf_world/world.h>
#include "kido/common/Uri.hpp"
#include "kido/common/ResourceRetriever.hpp"
#include "kido/collision/fcl/FCLTypes.hpp"
#include <urdf_model/model.h>
#include <urdf_model/pose.h>
#include <urdf_model/twist.h>
namespace kido {
namespace utils {
namespace urdf_parsing {
/// We need a customized version of the Entity class, because we need to keep
/// track of a Skeleton's uri in order to correctly handle relative file paths.
class Entity
{
public:
Entity() = default;
/// Copy over a standard urdfEntity
Entity(const urdf::Entity& urdfEntity);
fcl_shared_ptr<urdf::ModelInterface> model;
urdf::Pose origin;
urdf::Twist twist;
kido::common::Uri uri;
};
class World
{
public:
std::string name;
std::vector<Entity> models;
};
std::shared_ptr<World> parseWorldURDF(const std::string &xml_string,
const kido::common::Uri& _baseUri);
} // namespace urdf_parsing
} // namespace utils
} // namespace kido
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