dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/utils/FileInfoWorld.hpp

@@ -0,0 +1,75 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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 HOLDER 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.
+ */
+
+#ifndef DART_UTILS_FILEINFOWORLD_HPP_
+#define DART_UTILS_FILEINFOWORLD_HPP_
+
+namespace dart {
+
+namespace simulation {
+class Recording;
+} // namespace simulation
+
+namespace utils {
+
+/// \brief class FileInfoWorld
+class FileInfoWorld
+{
+public:
+  /// \brief Constructor
+  FileInfoWorld();
+
+  /// \brief Destructor
+  virtual ~FileInfoWorld();
+
+  /// \brief Load file
+  bool loadFile(const char* _fileName);
+
+  /// \brief Save file
+  /// \note Down sampling not implemented yet
+  bool saveFile(const char* _fileName, simulation::Recording* _record);
+
+  /// \brief Get recording
+  simulation::Recording* getRecording() const;
+
+protected:
+  /// \brief File name
+  char mFileName[256];
+
+  /// \brief Recording
+  simulation::Recording* mRecord;
+};
+
+} // namespace utils
+} // namespace dart
+
+#endif // DART_UTILS_FILEINFOWORLD_HPP_

include/dart/utils/PackageResourceRetriever.hpp

@@ -0,0 +1,118 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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 HOLDER 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.
+ */
+
+#ifndef DART_UTILS_PACKAGERESOURCERETRIEVER_HPP_
+#define DART_UTILS_PACKAGERESOURCERETRIEVER_HPP_
+
+#include <dart/common/ClassWithVirtualBase.hpp>
+#include <dart/common/ResourceRetriever.hpp>
+
+#include <unordered_map>
+#include <vector>
+
+namespace dart {
+namespace utils {
+
+/// Retrieve local resources specified by package:// URIs by: (1) resolving
+/// the package path and (2) passing the resolved URI to another
+/// \ref ResourceRetriever. This class uses requires you to manually provide the
+/// base URI of every package that you wish to resolve using the
+/// \ref addPackageDirectory method.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+class PackageResourceRetriever : public virtual common::ResourceRetriever
+{
+public:
+  /// Construct a PackageResourceRetriever that uses the specified \a
+  /// _localRetriever to load resolved URIs.
+  explicit PackageResourceRetriever(
+      const common::ResourceRetrieverPtr& _localRetriever = nullptr);
+
+  virtual ~PackageResourceRetriever() = default;
+
+  /// Specify the directory of a ROS package. In your URDF files, you may see
+  /// strings with a package URI pattern such as:
+  ///
+  /// \code
+  /// "package://my_robot/meshes/mesh_for_my_robot.stl"
+  ///  \______/  \______/\___________________________/
+  ///      |        |                 |
+  ///   package  package   file path with respect to
+  ///   keyword   name       the package directory
+  /// \endcode
+  ///
+  /// For us to successfully parse a URDF, we need to be told what the path
+  /// to the package directory is, using addPackageDirectory(). In this case,
+  /// suppose the path to the my_robot package is /path/to/my_robot. Then you
+  /// should use addPackageDirectory("my_robot", "/path/to/my_robot").
+  /// Altogether, this implies that a file named
+  /// "/path/to/my_robot/meshes/mesh_for_my_robot.stl" exists. Whatever you
+  /// specify as the package directory will end up replacing the 'package
+  /// keyword' and 'package name' components of the URI string.
+  ///
+  /// You can call this method multiple times with the same \a _packageName to
+  /// provide multiple candidates for resolution. This is necessarry if your
+  /// resources are split between the Catkin devel and source spaces. Multiple
+  /// candidates will be tested in the same order in which they were added.
+  ///
+  /// This class supports arbitrary URIs for \a _packageDirectory, as long as
+  /// they are supported by the \a _localRetriever passed to the constructor.
+  void addPackageDirectory(
+      const std::string& _packageName, const std::string& _packageDirectory);
+
+  // Documentation inherited.
+  bool exists(const common::Uri& _uri) override;
+
+  // Documentation inherited.
+  common::ResourcePtr retrieve(const common::Uri& _uri) override;
+
+  // Documentation inherited.
+  std::string getFilePath(const common::Uri& uri) override;
+
+private:
+  common::ResourceRetrieverPtr mLocalRetriever;
+  std::unordered_map<std::string, std::vector<std::string>> mPackageMap;
+
+  const std::vector<std::string>& getPackagePaths(
+      const std::string& _packageName) const;
+  bool resolvePackageUri(
+      const common::Uri& _uri,
+      std::string& _packageName,
+      std::string& _relativePath) const;
+};
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
+
+using PackageResourceRetrieverPtr = std::shared_ptr<PackageResourceRetriever>;
+
+} // namespace utils
+} // namespace dart
+
+#endif // ifndef DART_UTILS_PACKAGERESOURCERETRIEVER_HPP_

include/dart/utils/SkelParser.hpp

@@ -0,0 +1,70 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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 HOLDER 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.
+ */
+
+#ifndef DART_UTILS_SKELPARSER_HPP_
+#define DART_UTILS_SKELPARSER_HPP_
+
+#include <dart/simulation/World.hpp>
+
+#include <dart/common/LocalResourceRetriever.hpp>
+#include <dart/common/Uri.hpp>
+
+#include <string>
+
+namespace dart {
+namespace utils {
+
+/// SkelParser
+namespace SkelParser {
+
+/// Read World from skel file
+simulation::WorldPtr readWorld(
+    const common::Uri& uri,
+    const common::ResourceRetrieverPtr& retriever = nullptr);
+
+/// Read World from an xml-formatted string
+simulation::WorldPtr readWorldXML(
+    const std::string& xmlString,
+    const common::Uri& baseUri = "",
+    const common::ResourceRetrieverPtr& retriever = nullptr);
+
+/// Read Skeleton from skel file
+dynamics::SkeletonPtr readSkeleton(
+    const common::Uri& uri,
+    const common::ResourceRetrieverPtr& retriever = nullptr);
+
+} // namespace SkelParser
+
+} // namespace utils
+} // namespace dart
+
+#endif // #ifndef DART_UTILS_SKELPARSER_HPP_

include/dart/utils/VskParser.hpp

@@ -0,0 +1,108 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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 HOLDER 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.
+ */
+
+#ifndef DART_UTILS_VSKPARSER_HPP_
+#define DART_UTILS_VSKPARSER_HPP_
+
+#include <dart/dynamics/Skeleton.hpp>
+
+#include <dart/math/Constants.hpp>
+
+#include <dart/common/ResourceRetriever.hpp>
+#include <dart/common/Uri.hpp>
+
+namespace dart {
+namespace utils {
+
+namespace VskParser {
+/// Options struct is additional information that helps building a skeleton
+/// that can be used in kinematics or dynamics simulation. VSK file format
+/// itself doesn't provide essential properties for it such as body's shape,
+/// mass, and inertia.
+struct Options
+{
+  /// Resource retriever. LocalResourceRetriever is used if it's nullptr.
+  common::ResourceRetrieverPtr retrieverOrNullptr;
+
+  /// The default shape for body node is ellipsoid. The size of ellipsoid of
+  /// each body node are determined by the relative transformation from a body
+  /// node and its child body node. defaultEllipsoidSize is used for body
+  /// nodes that don't have child body node.
+  Eigen::Vector3d defaultEllipsoidSize;
+
+  /// Ratio of shorter radii of each ellipsoid to the longest radius where
+  /// the longest radius is the distance between a body and its child body
+  /// node.
+  double thicknessRatio;
+
+  /// Density of each ellipsoid that are used to compute mass.
+  double density;
+
+  /// Lower limit of joint position
+  double jointPositionLowerLimit;
+
+  /// Upper limit of joint position
+  double jointPositionUpperLimit;
+
+  /// Joint damping coefficient
+  double jointDampingCoefficient;
+
+  /// Joint Coulomb friction
+  double jointFriction;
+
+  /// Remove end BodyNodes with no Shape segment
+  bool removeEndBodyNodes;
+
+  /// Constructor
+  Options(
+      const common::ResourceRetrieverPtr& retrieverOrNullptr = nullptr,
+      const Eigen::Vector3d& defaultEllipsoidSize
+      = Eigen::Vector3d::Constant(0.05),
+      double thicknessRatio = 0.35,
+      double density = 1e+3,
+      double jointPositionLowerLimit = -math::constantsd::pi(),
+      double jointPositionUpperLimit = +math::constantsd::pi(),
+      double jointDampingCoefficient = 0.1,
+      double jointFriction = 0.0,
+      bool removeEndBodyNodes = false);
+};
+
+/// Read Skeleton from VSK file
+dynamics::SkeletonPtr readSkeleton(
+    const common::Uri& fileUri, Options options = Options());
+
+} // namespace VskParser
+
+} // namespace utils
+} // namespace dart
+
+#endif // #ifndef DART_UTILS_VSKPARSER_HPP_

include/dart/utils/XmlHelpers.hpp

@@ -0,0 +1,243 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   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.
+ *   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 HOLDER 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.
+ */
+
+#ifndef DART_UTILS_XMLHELPERS_HPP_
+#define DART_UTILS_XMLHELPERS_HPP_
+
+#include <dart/math/Geometry.hpp>
+#include <dart/math/MathTypes.hpp>
+
+#include <dart/common/Console.hpp>
+#include <dart/common/Deprecated.hpp>
+#include <dart/common/Logging.hpp>
+#include <dart/common/ResourceRetriever.hpp>
+
+#include <Eigen/Dense>
+#include <Eigen/Geometry>
+#include <tinyxml2.h>
+
+#include <string>
+
+namespace dart {
+namespace utils {
+
+std::string toString(bool v);
+std::string toString(int v);
+std::string toString(unsigned int v);
+std::string toString(float v);
+std::string toString(double v);
+std::string toString(char v);
+template <typename S, int N>
+std::string toString(const Eigen::Matrix<S, N, 1>& v);
+template <typename S>
+std::string toString(
+    const Eigen::Transform<S, 3, Eigen::Isometry>& v,
+    const std::string& rotationType = "intrinsic");
+
+bool toBool(const std::string& str);
+int toInt(const std::string& str);
+unsigned int toUInt(const std::string& str);
+float toFloat(const std::string& str);
+double toDouble(const std::string& str);
+char toChar(const std::string& str);
+Eigen::Vector2d toVector2d(const std::string& str);
+Eigen::Vector2i toVector2i(const std::string& str);
+Eigen::Vector3d toVector3d(const std::string& str);
+Eigen::Vector3i toVector3i(const std::string& str);
+Eigen::Vector4d toVector4d(const std::string& str);
+Eigen::Vector6d toVector6d(const std::string& str);
+Eigen::VectorXd toVectorXd(const std::string& str);
+template <std::size_t N>
+Eigen::Matrix<double, N, 1> toVectorNd(const std::string& str);
+// TODO: The definition of str is not clear for transform (see: #250)
+Eigen::Isometry3d toIsometry3d(const std::string& str);
+Eigen::Isometry3d toIsometry3dWithExtrinsicRotation(const std::string& str);
+
+std::string getValueString(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+bool getValueBool(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+int getValueInt(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+unsigned int getValueUInt(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+float getValueFloat(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+double getValueDouble(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+char getValueChar(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+Eigen::Vector2d getValueVector2d(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+Eigen::Vector3d getValueVector3d(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+Eigen::Vector3i getValueVector3i(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+Eigen::Vector6d getValueVector6d(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+Eigen::VectorXd getValueVectorXd(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+Eigen::Isometry3d getValueIsometry3d(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+Eigen::Isometry3d getValueIsometry3dWithExtrinsicRotation(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+
+// TODO(JS): Deprecate
+void openXMLFile(
+    tinyxml2::XMLDocument& doc,
+    const common::Uri& uri,
+    const common::ResourceRetrieverPtr& retriever = nullptr);
+
+bool readXmlFile(
+    tinyxml2::XMLDocument& doc,
+    const common::Uri& uri,
+    const common::ResourceRetrieverPtr& retrieverOrNullPtr = nullptr);
+
+bool hasElement(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+
+const tinyxml2::XMLElement* getElement(
+    const tinyxml2::XMLElement* parentElement, const std::string& name);
+
+tinyxml2::XMLElement* getElement(
+    tinyxml2::XMLElement* parentElement, const std::string& name);
+
+bool hasAttribute(const tinyxml2::XMLElement* element, const char* const name);
+
+// Please use getAttributeString() instead.
+DART_DEPRECATED(6.0)
+std::string getAttribute(tinyxml2::XMLElement* element, const char* const name);
+
+// Please use getAttributeDouble() instead.
+DART_DEPRECATED(6.0)
+void getAttribute(
+    tinyxml2::XMLElement* element, const char* const name, double* d);
+
+std::string getAttributeString(
+    const tinyxml2::XMLElement* element, const std::string& attributeName);
+bool getAttributeBool(
+    const tinyxml2::XMLElement* element, const std::string& attributeName);
+int getAttributeInt(
+    const tinyxml2::XMLElement* element, const std::string& attributeName);
+unsigned int getAttributeUInt(
+    const tinyxml2::XMLElement* element, const std::string& attributeName);
+float getAttributeFloat(
+    const tinyxml2::XMLElement* element, const std::string& attributeName);
+double getAttributeDouble(
+    const tinyxml2::XMLElement* element, const std::string& attributeName);
+char getAttributeChar(
+    const tinyxml2::XMLElement* element, const std::string& attributeName);
+Eigen::Vector2i getAttributeVector2i(
+    const tinyxml2::XMLElement* element, const std::string& attributeName);
+Eigen::Vector2d getAttributeVector2d(
+    const tinyxml2::XMLElement* element, const std::string& attributeName);
+Eigen::Vector3d getAttributeVector3d(
+    const tinyxml2::XMLElement* element, const std::string& attributeName);
+Eigen::Vector4d getAttributeVector4d(
+    const tinyxml2::XMLElement* element, const std::string& attributeName);
+Eigen::Vector6d getAttributeVector6d(
+    const tinyxml2::XMLElement* element, const std::string& attributeName);
+Eigen::VectorXd getAttributeVectorXd(
+    const tinyxml2::XMLElement* element, const std::string& attributeName);
+template <std::size_t N>
+Eigen::Matrix<double, N, 1> getAttributeVectorNd(
+    const tinyxml2::XMLElement* element, const std::string& attributeName);
+
+/// TemplatedElementEnumerator is a convenience class to help visiting all the
+/// child elements of given parent element. This class is templated to cover
+/// const and non-const tinyxml2::XMLElement types.
+template <typename ElementType>
+class TemplatedElementEnumerator
+{
+protected:
+  using ElementPtr = ElementType*;
+  using ElementRef = ElementType&;
+
+public:
+  /// Constructor that takes parent element and
+  TemplatedElementEnumerator(
+      ElementPtr parentElement, const std::string& childElementName);
+
+  /// Destructor
+  ~TemplatedElementEnumerator();
+
+  /// Set the current element to the next sibling element or to the first child
+  /// element of given parent element if it exists; returns success
+  bool next();
+
+  /// Get the current element
+  ElementPtr get() const;
+
+  /// Dereference operator
+  ElementPtr operator->() const;
+
+  /// Dereference operator
+  ElementRef operator*() const;
+
+  /// Equality operator
+  bool operator==(const TemplatedElementEnumerator<ElementType>& rhs) const;
+
+  /// Assignment operator
+  TemplatedElementEnumerator<ElementType>& operator=(
+      const TemplatedElementEnumerator<ElementType>& rhs);
+
+private:
+  /// Returns true if the current element is valid (not a nullptr)
+  bool valid() const;
+
+private:
+  /// Parent element
+  ElementPtr mParentElement;
+
+  /// Child element name
+  std::string mChildElementName;
+
+  /// Currently visiting child element
+  ElementPtr mCurrentElement;
+};
+
+// ElementEnumerator is for iterating elements for
+using ElementEnumerator = TemplatedElementEnumerator<tinyxml2::XMLElement>;
+using ConstElementEnumerator
+    = TemplatedElementEnumerator<const tinyxml2::XMLElement>;
+
+bool copyNode(tinyxml2::XMLNode* destParent, const tinyxml2::XMLNode& src);
+
+bool copyChildNodes(
+    tinyxml2::XMLNode* destParent, const tinyxml2::XMLNode& src);
+
+} // namespace utils
+} // namespace dart
+
+#include <dart/utils/detail/XmlHelpers-impl.hpp>
+
+#endif // #ifndef DART_UTILS_XMLHELPERS_HPP_

include/dart/utils/all.hpp

@@ -0,0 +1,14 @@
+// Automatically generated file by cmake
+
+#include "dart/utils/C3D.hpp"
+#include "dart/utils/CompositeResourceRetriever.hpp"
+#include "dart/utils/DartResourceRetriever.hpp"
+#include "dart/utils/FileInfoC3D.hpp"
+#include "dart/utils/FileInfoDof.hpp"
+#include "dart/utils/FileInfoWorld.hpp"
+#include "dart/utils/PackageResourceRetriever.hpp"
+#include "dart/utils/SkelParser.hpp"
+#include "dart/utils/VskParser.hpp"
+#include "dart/utils/XmlHelpers.hpp"
+#include "dart/utils/mjcf/all.hpp"
+#include "dart/utils/sdf/all.hpp"