decoding

type CollisionElement struct {
	Name     string            `xml:"name,attr"`
	Origin   *pose.Pose        `xml:"origin"`
	Geometry geometry.Geometry `xml:"geometry"`
}

type ColorElement struct {
	Color color.Color `xml:"rgba,attr"`
}

type LinkElement struct {
	Name      string              `xml:"name,attr"`
	Visual    []*VisualElement    `xml:"visual"`
	Collision []*CollisionElement `xml:"collision"`
	Inertial  *inertial.Inertial  `xml:"inertial"`
}

type MaterialElement struct {
	Name            string        `xml:"name,attr"`
	TextureFilename *string       `xml:"texture"`
	Color           *ColorElement `xml:"color"`
}

type RobotElement struct {
	Name          string                                       `xml:"name,attr"`
	Links         []*LinkElement                               `xml:"link"`
	Joints        []*joint_decoding.JointElement               `xml:"joint"`
	Transmissions []*transmission_decoding.TransmissionElement `xml:"transmission"`
}

type VisualElement struct {
	Origin   *pose.Pose         `xml:"origin"`
	Geometry *geometry.Geometry `xml:"geometry"`
	Name     string             `xml:"name,attr"`
	Material *MaterialElement   `xml:"material"`
}