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/* Author: Wim Meeussen */

#ifndef URDF_MODEL_H
#define URDF_MODEL_H

#include <string>
#include <map>
#include <urdf_model/model.h>
#include <urdf/urdfdom_compatibility.h>
#include <tinyxml.h>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>

namespace urdf{

class Model: public ModelInterface
{
public:
  /// \brief Load Model from TiXMLElement
  bool initXml(TiXmlElement *xml);
  /// \brief Load Model from TiXMLDocument
  bool initXml(TiXmlDocument *xml);
  /// \brief Load Model given a filename
  bool initFile(const std::string& filename);
  /// \brief Load Model given the name of a parameter on the parameter server
  bool initParam(const std::string& param);
  /// \brief Load Model from a XML-string
  bool initString(const std::string& xmlstring);
};

typedef boost::shared_ptr<Model> ModelSharedPtr;
typedef boost::shared_ptr<const Model> ModelConstSharedPtr;
typedef boost::weak_ptr<Model> ModelWeakPtr;

}

#endif
