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/*
* Copyright 2016 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef SDF_PARSER_PRIVATE_HH_
#define SDF_PARSER_PRIVATE_HH_
#include <tinyxml.h>
#include <string>
#include "sdf/SDFImpl.hh"
#include "sdf/system_util.hh"
/// \ingroup sdf_parser
/// \brief namespace for Simulation Description Format parser
namespace sdf
{
/// \brief Get the best SDF version from models supported by this sdformat
/// \param[in] _modelXML XML element from config file pointing to the
/// model XML tag
/// \param[out] _modelFileName file name of the best model file
/// \return string with the best SDF version supported
std::string getBestSupportedModelVersion(TiXmlElement *_modelXML,
std::string &_modelFileName);
/// \brief Initialize the SDF interface using a TinyXML document
bool initDoc(TiXmlDocument *_xmlDoc, SDFPtr _sdf);
/// \brief Initialize and SDF Element using a TinyXML document
bool initDoc(TiXmlDocument *_xmlDoc, ElementPtr _sdf);
/// \brief For internal use only. Do not use this function.
bool initXml(TiXmlElement *_xml, ElementPtr _sdf);
/// \brief Populate the SDF values from a TinyXML document
bool readDoc(TiXmlDocument *_xmlDoc, SDFPtr _sdf, const std::string &_source,
bool _convert, Errors &_errors);
bool readDoc(TiXmlDocument *_xmlDoc, ElementPtr _sdf,
const std::string &_source, bool _convert, Errors &_errors);
/// \brief For internal use only. Do not use this function.
/// \param[in] _xml Pointer to the XML document
/// \param[in,out] _sdf SDF pointer to parse data into.
/// \param[out] _errors Captures errors found during parsing.
/// \return True on success, false on error.
bool readXml(TiXmlElement *_xml, ElementPtr _sdf, Errors &_errors);
void copyChildren(ElementPtr _sdf, TiXmlElement *_xml);
}
#endif
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