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/* Author: Wim Meeussen */

#ifndef URDF_PARSER_URDF_PARSER_H
#define URDF_PARSER_URDF_PARSER_H

#include <string>
#include <map>
#include <tinyxml2.h>
#include <urdf_model/model.h>
#include <urdf_model/color.h>
#include <urdf_world/types.h>

#include "exportdecl.h"

namespace urdf_export_helpers {

URDFDOM_DLLAPI std::string values2str(unsigned int count, const double *values, double (*conv)(double) = NULL);
URDFDOM_DLLAPI std::string values2str(urdf::Vector3 vec);
URDFDOM_DLLAPI std::string values2str(urdf::Rotation rot);
URDFDOM_DLLAPI std::string values2str(urdf::Color c);
URDFDOM_DLLAPI std::string values2str(double d);

}

namespace urdf{

  URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDF(const std::string &xml_string);
  URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDFFile(const std::string &path);
  URDFDOM_DLLAPI tinyxml2::XMLDocument*  exportURDF(ModelInterfaceSharedPtr &model);
  URDFDOM_DLLAPI tinyxml2::XMLDocument*  exportURDF(const ModelInterface &model);
  URDFDOM_DLLAPI bool parsePose(Pose&, tinyxml2::XMLElement*);
}

#endif
