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/* Author: John Hsu */

/* encapsulates components in a world
   see http://ros.org/wiki/usdf/XML/urdf_world
   for details
*/
/* example world XML

<world name="pr2_with_table">
  <!-- include the models by including
       either the complete urdf or
       referencing the file name.  -->
  <model name="pr2">
    ...
  </model>
  <include filename="table.urdf" model_name="table_model"/>

  <!-- models in the world -->
  <entity model="pr2" name="prj">
    <origin xyz="0 1 0" rpy="0 0 0"/>
    <twist linear="0 0 0" angular="0 0 0"/>
  </entity>
  <entity model="pr2" name="prk">
    <origin xyz="0 2 0" rpy="0 0 0"/>
    <twist linear="0 0 0" angular="0 0 0"/>
  </entity>
  <entity model="table_model">
    <origin xyz="0 3 0" rpy="0 0 0"/>
    <twist linear="0 0 0" angular="0 0 0"/>
  </entity>

</world>

*/

#ifndef USDF_STATE_H
#define USDF_STATE_H

#include "visible.h"
#include <string>
#include <vector>
#include <map>
#include <tinyxml.h>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>

#include "urdf_model/model.h"
#include "urdf_model/pose.h"
#include "urdf_model/twist.h"

namespace urdf{

class SDFORMAT_HIDDEN Entity
{
public:
  boost::shared_ptr<ModelInterface> model;
  Pose origin;
  Twist twist;
};

class SDFORMAT_HIDDEN World
{
public:
  World() { this->clear(); };

  /// world name must be unique
  std::string name;

  std::vector<Entity> models;

  void initXml(TiXmlElement* config);

  void clear()
  {
    this->name.clear();
  };
};
}

#endif

