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support export URDF #199

@briansoe66

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@briansoe66

I would like to use the export functions. However, they are deprecated, so that the tinyxml2 dependency is private, as described in: PR #190

I propose changing the API, so that export is available does not use tinyxml2. If this is acceptable, I can create a PR.

URDFDOM_DLLAPI std::string  exportURDF(ModelInterfaceSharedPtr &model);

URDFDOM_DLLAPI std::string  exportURDF(const ModelInterface &model);

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