surface_utils.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
#include <mc_rbdyn/api.h>
 
#include <SpaceVecAlg/SpaceVecAlg>
#include <memory>
#include <string>
#include <tinyxml2.h>
#include <vector>
 
namespace mc_rbdyn
{
 
struct Surface;
 
MC_RBDYN_DLLAPI tinyxml2::XMLElement * tfToOriginDom(tinyxml2::XMLDocument & doc,
                                                     const sva::PTransformd & X,
                                                     const std::string_view & tagName = "origin");
MC_RBDYN_DLLAPI sva::PTransformd tfFromOriginDom(const tinyxml2::XMLElement & dom);
 
MC_RBDYN_DLLAPI void surfacesToXML(tinyxml2::XMLDocument & doc,
                                   const std::string & robotName,
                                   const std::vector<std::shared_ptr<Surface>> & surfaces);
 
MC_RBDYN_DLLAPI std::vector<std::shared_ptr<Surface>> readRSDFFromDir(const std::string & dirname);
 
} // namespace mc_rbdyn