Util.hh

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/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef IGNITION_GAZEBO_UTIL_HH_
#define IGNITION_GAZEBO_UTIL_HH_

#include <string>

#include <ignition/math/Pose3.hh>
#include "ignition/gazebo/config.hh"
#include "ignition/gazebo/Entity.hh"
#include "ignition/gazebo/EntityComponentManager.hh"
#include "ignition/gazebo/Export.hh"
#include "ignition/gazebo/Types.hh"

namespace ignition
{
  namespace gazebo
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
    //
    math::Pose3d IGNITION_GAZEBO_VISIBLE worldPose(const Entity &_entity,
        const EntityComponentManager &_ecm);

    std::string IGNITION_GAZEBO_VISIBLE scopedName(const Entity &_entity,
      const EntityComponentManager &_ecm, const std::string &_delim = "/",
      bool _includePrefix = true);

    std::string IGNITION_GAZEBO_VISIBLE removeParentScope(
        const std::string &_name, const std::string &_delim);

    std::string asFullPath(const std::string &_uri,
        const std::string &_filePath);
    }
  }
}
#endif