object_utils.hh

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#ifndef _OBJECT_UTILS_HH_
#define _OBJECT_UTILS_HH_

// Gazebo
#include <gazebo/gazebo_client.hh>
#include <gazebo/gazebo_config.h>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>

// File streams
#include <fstream>
// Open YAML config files
#include "yaml-cpp/yaml.h"

// Debug streams
#include "debug.hh"

void spawnModelFromFile(
    gazebo::transport::PublisherPtr pub,
    const std::string & file);

void spawnModelFromFilename(
    gazebo::transport::PublisherPtr pub,
    ignition::math::Pose3d & pose,
    const std::string & filename);

void removeModel(
    gazebo::transport::PublisherPtr pub,
    const std::string & name);

void obtainRestPoses(
    const std::string & file_name,
    std::vector<std::string> & targets,
    std::vector<ignition::math::Pose3d> & poses);

#endif