URDFFactory.h

#pragma once
#include "DLLInfo.h"
#include "IOFactory/Headers/ModelFactory.h"
#include "Design/Headers/Model.h"
#include "Base/Headers/Dictionary.h"
#include "Base/Headers/String.h"
#include "Base/Headers/UUID.h"
namespace NDEVR
{
    class Model;
    class File;

    enum class URDFJointType
    {
        e_unknown,              
        e_rotation_axis,        
        e_continuous,           
        e_prismatic,            
        e_floating,             
        e_planer,               
        e_fixed                 
    };

    struct URDF_INTERFACE_API URDFJoint
    {
        Matrix<fltp08> transform = Matrix<fltp08>(1.0);     
        Vector<3, fltp08> axis = Vector<3, fltp08>(0,0,1);  
        fltp08 value = 0.0;                                 
        String name;                                        
        UUID child_model = Constant<UUID>::Invalid;         
        URDFJointType type = URDFJointType::e_unknown;      
        void applyValue(Model& child) const;
    };
    struct URDFFactoryOptions
    {
        URDFFactoryOptions()
            : params(FactoryParameters(File(), FileFormat(Constant<UUID>::Invalid)))
        {}

        URDFFactoryOptions(const FactoryParameters& params)
            : params(params)
        {}
        FactoryParameters params;                   
        Model root;                                 
        Dictionary<String, Model> geometries;       
        Dictionary<String, URDFJoint> joints;       
        bool load_geometry = true;                  
    };

    class URDF_INTERFACE_API URDFFactory
    {
    public:
        static URDFFactoryOptions CreateModel(File file, bool load_geometry);
    };
 
    
}