parser_urdf.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 urdf {

DRAKERBM_EXPORT
std::shared_ptr<RigidBodyFrame> MakeRigidBodyFrameFromURDFNode(
    const RigidBodyTree& tree, const tinyxml2::XMLElement& link,
    const tinyxml2::XMLElement* pose, const std::string& name);

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

// TODO(liang.fok) Replace this method with one that returns a Model object.
//
DRAKERBM_EXPORT
void AddRobotFromURDFString(
    const std::string& urdf_string,
    std::map<std::string, std::string>& package_map,
    RigidBodyTree* tree);


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

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

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

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

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

}  // namespace urdf
}  // namespace parsers
}  // namespace drake