.. _program_listing_file_include_urdf_model.hpp:

Program Listing for File model.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_urdf_model.hpp>` (``include/urdf/model.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2008, Willow Garage, Inc.
   // All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the copyright holder nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   /* Author: Wim Meeussen */
   
   #ifndef URDF__MODEL_HPP_
   #define URDF__MODEL_HPP_
   
   #include <memory>
   #include <string>
   
   #include "urdf_model/model.h"
   
   #include "urdf/urdfdom_compatibility.h"
   #include "urdf/visibility_control.hpp"
   
   namespace urdf
   {
   
   // PIMPL Forward Declaration
   class ModelImplementation;
   
   class Model : public ModelInterface
   {
   public:
     URDF_EXPORT
     Model();
   
     URDF_EXPORT
     ~Model();
   
     URDF_EXPORT Model(const Model & other);
     URDF_EXPORT Model & operator=(const Model & other);
     URDF_EXPORT Model(Model && other) noexcept;
     URDF_EXPORT Model & operator=(Model && other)noexcept;
   
     URDF_EXPORT bool initFile(const std::string & filename);
   
     URDF_EXPORT bool initString(const std::string & xmlstring);
   
   private:
     std::unique_ptr<ModelImplementation> impl_;
   };
   
   // shared_ptr declarations moved to urdf/urdfdom_compatibility.h to allow for
   // std::shared_ptrs in latest version
   
   }  // namespace urdf
   
   #endif  // URDF__MODEL_HPP_