Gazebo Physics

API Reference

7.4.0
ConstructLink.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef GZ_PHYSICS_SDF_CONSTRUCTLINK_HH_
19 #define GZ_PHYSICS_SDF_CONSTRUCTLINK_HH_
20 
21 #include <sdf/Link.hh>
22 
24 
25 namespace gz {
26 namespace physics {
27 namespace sdf {
28 
29 class ConstructSdfLink : public virtual Feature
30 {
31  public: template <typename PolicyT, typename FeaturesT>
32  class Model : public virtual Feature::Model<PolicyT, FeaturesT>
33  {
34  public: using LinkPtrType = LinkPtr<PolicyT, FeaturesT>;
35 
36  public: LinkPtrType ConstructLink(const ::sdf::Link &_link);
37  };
38 
39  public: template <typename PolicyT>
40  class Implementation : public virtual Feature::Implementation<PolicyT>
41  {
42  public: virtual Identity ConstructSdfLink(
43  const Identity &_model, const ::sdf::Link &_link) = 0;
44  };
45 };
46 
48 template <typename PolicyT, typename FeaturesT>
50  const ::sdf::Link &_link) -> LinkPtrType
51 {
52  return LinkPtrType(this->pimpl,
53  this->template Interface<ConstructSdfLink>()
54  ->ConstructSdfLink(this->identity, _link));
55 }
56 
57 }
58 }
59 }
60 
61 #endif