ArticulatedObjectReader.h

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#pragma once
 
#include <VirtualRobot/XML/RobotIO.h>
 
#include "Reader.h"
 
namespace armarx::armem::articulated_object
{
 
    class ArticulatedObjectReader : virtual public Reader
    {
    public:
        using Reader::Reader;
 
        VirtualRobot::RobotPtr getArticulatedObject(
            const std::string& typeName,
            const armem::Time& timestamp,
            const std::optional<std::string>& providerName,
            const std::string& instanceName = "",
            VirtualRobot::RobotIO::RobotDescription loadMode = VirtualRobot::RobotIO::eStructure);
 
        [[nodiscard]] bool
        synchronizeArticulatedObject(VirtualRobot::Robot& object,
                                     const armem::Time& timestamp,
                                     const std::optional<std::string>& providerName);
    };
} // namespace armarx::armem::articulated_object