text: /**
     \file
     \author Yosuke Matsusaka, Shizuko Hattori, Shin'ichiro Nakaoka
  */
  
  #ifndef CNOID_SDF_PLUGIN_SDF_BODY_LOADER_H
  #define CNOID_SDF_PLUGIN_SDF_BODY_LOADER_H
  
  #include <cnoid/AbstractBodyLoader>
  #include <cnoid/BodyItem>
  
  namespace cnoid {
  
  class SDFBodyLoaderImpl;
    
  class SDFBodyLoader : public AbstractBodyLoader
  {
  public:
      SDFBodyLoader();
      ~SDFBodyLoader();
      virtual void setMessageSink(std::ostream& os);
      virtual void setVerbose(bool on);
      virtual bool load(Body* body, const std::string& filename);
  
      bool load(BodyItem* item, const std::string& filename);
  
  private:
      SDFBodyLoaderImpl* impl;
  };
  
  }
  
  #endif
  