text: /*********************************************************************
  * Software License Agreement (BSD License)
  *
  *  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 Willow Garage 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 OWNER 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_H_
  #define URDF__MODEL_H_
  
  #include <string>
  
  #include "tinyxml.h"  // NOLINT
  #include "urdf_model/model.h"
  
  #include "urdf/urdfdom_compatibility.h"
  #include "urdf/visibility_control.hpp"
  
  namespace urdf
  {
  
  class Model : public ModelInterface
  {
  public:
    /// \brief Load Model from TiXMLElement
    URDF_EXPORT bool initXml(TiXmlElement * xml);
    /// \brief Load Model from TiXMLDocument
    URDF_EXPORT bool initXml(TiXmlDocument * xml);
    /// \brief Load Model given a filename
    URDF_EXPORT bool initFile(const std::string & filename);
    /// \brief Load Model given the name of a parameter on the parameter server
    // URDF_EXPORT bool initParam(const std::string & param);
    /// \brief Load Model given the name of parameter on parameter server using provided nodehandle
    // URDF_EXPORT bool initParamWithNodeHandle(const std::string & param,
    //   const ros::NodeHandle & nh = ros::NodeHandle());
    /// \brief Load Model from a XML-string
    URDF_EXPORT bool initString(const std::string & xmlstring);
  };
  
  // shared_ptr declarations moved to urdf/urdfdom_compatibility.h to allow for
  // std::shared_ptrs in latest version
  
  }  // namespace urdf
  
  #endif  // URDF__MODEL_H_
  