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#ifndef _WIN32
#pragma GCC system_header
#endif
/* Author: Wim Meeussen */

#ifndef URDF_PARSER_URDF_PARSER_H
#define URDF_PARSER_URDF_PARSER_H

#include "visible.h"
#include <string>
#include <map>
#include <tinyxml.h>
#include <boost/function.hpp>
#include <urdf_model/model.h>
#include <urdf_model/color.h>

namespace urdf_export_helpers {

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

}

namespace urdf{

  SDFORMAT_HIDDEN
  boost::shared_ptr<ModelInterface> parseURDF(const std::string &xml_string);
  TiXmlDocument*  exportURDF(boost::shared_ptr<ModelInterface> &model);

}

#endif
