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src
gz-physics
include
gz
physics
FrameSemantics.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2017 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_PHYSICS_FRAMESEMANTICS_HH_
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#define GZ_PHYSICS_FRAMESEMANTICS_HH_
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#include <memory>
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#include <
gz/physics/Feature.hh
>
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#include <
gz/physics/Entity.hh
>
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#include <
gz/physics/FrameID.hh
>
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#include <
gz/physics/FrameData.hh
>
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#include <
gz/physics/RelativeQuantity.hh
>
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namespace
gz
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{
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namespace
physics
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{
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class
GZ_PHYSICS_VISIBLE
FrameSemantics
:
public
virtual
Feature
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{
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// Forward declaration
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public
:
template
<
typename
,
typename
>
class
Frame
;
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public
:
template
<
typename
PolicyT,
typename
FeaturesT>
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class
Engine
:
public
virtual
Feature::Engine
<PolicyT, FeaturesT>
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{
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public
:
using
FrameData
=
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gz::physics::FrameData
<
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typename
PolicyT::Scalar, PolicyT::Dim>;
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public
:
template
<
typename
RQ>
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typename
RQ::Quantity
Resolve
(
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const
RQ &_quantity,
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const
FrameID
&_relativeTo,
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const
FrameID
&_inCoordinatesOf)
const
;
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public
:
template
<
typename
RQ>
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typename
RQ::Quantity
Resolve
(
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const
RQ &_quantity,
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const
FrameID
&_relativeTo = FrameID::World())
const
;
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public
:
template
<
typename
RQ>
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RQ
Reframe
(
const
RQ &_quantity,
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const
FrameID
&_withRespectTo = FrameID::World())
const
;
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template
<
typename
,
typename
>
friend
class
FrameSemantics::Frame
;
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};
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public
:
template
<
typename
PolicyT,
typename
FeaturesT>
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class
Frame
:
public
virtual
Entity
<PolicyT, FeaturesT>
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{
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public
:
using
FrameData
=
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gz::physics::FrameData<typename PolicyT::Scalar, PolicyT::Dim>
;
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public
:
FrameID
GetFrameID
()
const
;
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public
:
FrameData
FrameDataRelativeToWorld
()
const
;
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public
:
FrameData
FrameDataRelativeTo
(
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const
FrameID
&_relativeTo)
const
;
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public
:
FrameData
FrameDataRelativeTo
(
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const
FrameID
&_relativeTo,
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const
FrameID
&_inCoordinatesOf)
const
;
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public
:
operator
FrameID
()
const
;
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public
:
virtual
~Frame
() =
default
;
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};
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template
<
typename
PolicyT>
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class
Implementation
:
public
virtual
Feature::Implementation
<PolicyT>
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{
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public
:
using
FrameData
=
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gz::physics::FrameData<typename PolicyT::Scalar, PolicyT::Dim>
;
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public
:
virtual
FrameData
FrameDataRelativeToWorld
(
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const
FrameID
&_id)
const
= 0;
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protected
:
virtual
FrameID
GenerateFrameID
(
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const
Identity &_identity)
const
;
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protected
:
template
<
typename
T>
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T *
FrameInterface
(
const
FrameID
&_frameID)
const
;
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};
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};
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class
GZ_PHYSICS_VISIBLE
LinkFrameSemantics
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:
public
virtual
FrameSemantics
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{
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public
:
template
<
typename
Policy,
typename
Features>
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using
Link
=
FrameSemantics::Frame<Policy, Features>
;
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};
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class
GZ_PHYSICS_VISIBLE
JointFrameSemantics
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:
public
virtual
FrameSemantics
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{
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public
:
template
<
typename
Policy,
typename
Features>
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using
Joint
=
FrameSemantics::Frame<Policy, Features>
;
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};
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class
GZ_PHYSICS_VISIBLE
ShapeFrameSemantics
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:
public
virtual
FrameSemantics
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{
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public
:
template
<
typename
Policy,
typename
Features>
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using
Shape
=
FrameSemantics::Frame<Policy, Features>
;
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};
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class
GZ_PHYSICS_VISIBLE
ModelFrameSemantics
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:
public
virtual
FrameSemantics
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{
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public
:
template
<
typename
Policy,
typename
Features>
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using
Model
=
FrameSemantics::Frame<Policy, Features>
;
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};
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class
GZ_PHYSICS_VISIBLE
CompleteFrameSemantics
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:
public
virtual
LinkFrameSemantics
,
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public
virtual
JointFrameSemantics
,
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public
virtual
ModelFrameSemantics
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{
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// This alias is needed in order to disambiguate which Engine class to use
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// from the base classes.
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public
:
template
<
typename
Policy,
typename
Features>
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using
Engine
=
FrameSemantics::Engine<Policy, Features>
;
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};
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}
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}
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#include <gz/physics/detail/FrameSemantics.hh>
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#endif