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/usr/include/sdformat-6.0/sdf/sdf.hh is in libsdformat6-dev 6.0.0+dfsg-4.

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// Automatically generated
 #include <sdf/Assert.hh>
 #include <sdf/Console.hh>
 #include <sdf/Element.hh>
 #include <sdf/Error.hh>
 #include <sdf/Exception.hh>
 #include <sdf/Filesystem.hh>
 #include <sdf/Param.hh>
 #include <sdf/parser.hh>
 #include <sdf/Root.hh>
 #include <sdf/SDFImpl.hh>
 #include <sdf/Types.hh>
 #include <sdf/system_util.hh>
 #include <sdf/World.hh>

#include <sdf/sdf_config.h>