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34 
35 /* Author: A. Huaman */
36 /* @date 2013/06/20 */
37 
38 #pragma once
39 
40 #include <string>
41 
42 #include <urdf_model/model.h>
43 #include <urdf_model/pose.h>
44 #include <urdf_model/twist.h>
45 #include <urdf_world/world.h>
46 
47 #include "dart/common/ResourceRetriever.hpp"
48 #include "dart/common/Uri.hpp"
49 #include "dart/utils/urdf/BackwardCompatibility.hpp"
50 
51 namespace dart {
52 namespace utils {
53 namespace urdf_parsing {
54 
55 /// We need a customized version of the Entity class, because we need to keep
56 /// track of a Skeleton's uri in order to correctly handle relative file paths.
57 class Entity
58 {
59 public:
60   Entity() = default;
61 
62   /// Copy over a standard urdfEntity
63   Entity(const urdf::Entity& urdfEntity);
64 
65   urdf_shared_ptr<urdf::ModelInterface> model;
66   urdf::Pose origin;
67   urdf::Twist twist;
68 
69   dart::common::Uri uri;
70 };
71 
72 class World
73 {
74 public:
75   std::string name;
76   std::vector<Entity> models;
77 };
78 
79 std::shared_ptr<World> parseWorldURDF(
80     const std::string& xml_string,
81     const dart::common::Uri& _baseUri,
82     const common::ResourceRetrieverPtr& retriever);
83 
84 } // namespace urdf_parsing
85 } // namespace utils
86 } // namespace dart
87