parser_sdf.h

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#pragma once

#include <map>
#include <string>

#include "drake/drakeRBM_export.h"
#include "drake/systems/plants/RigidBodyFrame.h"
#include "drake/systems/plants/RigidBodyTree.h"
#include "drake/systems/plants/xmlUtil.h"
#include "drake/thirdParty/zlib/tinyxml2/tinyxml2.h"

namespace drake {
namespace parsers {
namespace sdf {

// TODO(liang.fok) Replace this method with one that returns a Model object.
//
DRAKERBM_EXPORT
void AddRobotFromSDFInWorldFrame(
    const std::string& sdf_filename,
    const DrakeJoint::FloatingBaseType floating_base_type, RigidBodyTree* tree);

// TODO(liang.fok) Replace this method with one that returns a Model object.
//
DRAKERBM_EXPORT
void AddRobotFromSDF(const std::string& sdf_filename,
                     const DrakeJoint::FloatingBaseType floating_base_type,
                     std::shared_ptr<RigidBodyFrame> weld_to_frame,
                     RigidBodyTree* tree);

}  // namespace sdf
}  // namespace parsers
}  // namespace drake