gz/rendering/Node.hh

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/*
 * Copyright (C) 2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef GZ_RENDERING_NODE_HH_
#define GZ_RENDERING_NODE_HH_
 
#include <map>
#include <string>
#include <variant>
 
#include <gz/math/Pose3.hh>
#include <gz/math/Quaternion.hh>
 
#include "gz/rendering/config.hh"
#include "gz/rendering/RenderTypes.hh"
#include "gz/rendering/Object.hh"
#include "gz/rendering/Export.hh"
 
namespace ignition
{
  namespace rendering
  {
    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
    //
    using Variant =
      std::variant<std::monostate, int, float, double, std::string, bool,
        unsigned int>;
 
    class IGNITION_RENDERING_VISIBLE Node :
      public virtual Object
    {
      public: virtual ~Node() { }
 
      public: virtual bool HasParent() const = 0;
 
      public: virtual NodePtr Parent() const = 0;
 
      public: virtual void RemoveParent() = 0;
 
      public: virtual math::Pose3d LocalPose() const = 0;
 
      public: virtual math::Pose3d InitialLocalPose() const = 0;
 
      public: virtual void SetLocalPose(const math::Pose3d &_pose) = 0;
 
      public: virtual math::Vector3d LocalPosition() const = 0;
 
      public: virtual void SetLocalPosition(double _x, double _y,
                  double _z) = 0;
 
      public: virtual void SetLocalPosition(
                  const math::Vector3d &_position) = 0;
 
      public: virtual math::Quaterniond LocalRotation() const = 0;
 
      public: virtual void SetLocalRotation(double _r, double _p,
                  double _y) = 0;
 
      public: virtual void SetLocalRotation(double _w, double _x, double _y,
                  double _z) = 0;
 
      public: virtual void SetLocalRotation(
                  const math::Quaterniond &_rotation) = 0;
 
      public: virtual math::Pose3d WorldPose() const = 0;
 
      public: virtual void SetWorldPose(const math::Pose3d &_pose) = 0;
 
      public: virtual math::Vector3d WorldPosition() const = 0;
 
      public: virtual void SetWorldPosition(double _x, double _y,
                  double _z) = 0;
 
      public: virtual void SetWorldPosition(
                  const math::Vector3d &_position) = 0;
 
      public: virtual math::Quaterniond WorldRotation() const = 0;
 
      public: virtual void SetWorldRotation(double _r, double _p,
                  double _y) = 0;
 
      public: virtual void SetWorldRotation(double _w, double _x, double _y,
                  double _z) = 0;
 
      public: virtual void SetWorldRotation(
                  const math::Quaterniond &_rotation) = 0;
 
      public: virtual math::Pose3d WorldToLocal(
                  const math::Pose3d &_pose) const = 0;
 
      public: virtual math::Vector3d Origin() const = 0;
 
      public: virtual void SetOrigin(double _x, double _y, double _z) = 0;
 
      public: virtual void SetOrigin(const math::Vector3d &_origin) = 0;
 
      public: virtual math::Vector3d LocalScale() const = 0;
 
      public: virtual void SetLocalScale(double _scale) = 0;
 
      public: virtual void SetLocalScale(double _x, double _y, double _z) = 0;
 
      public: virtual void SetLocalScale(const math::Vector3d &_scale) = 0;
 
      public: virtual math::Vector3d WorldScale() const = 0;
 
      public: virtual void SetWorldScale(double _scale) = 0;
 
      public: virtual void SetWorldScale(double _x, double _y, double _z) = 0;
 
      public: virtual void SetWorldScale(const math::Vector3d &_scale) = 0;
 
      public: virtual void Scale(double _scale) = 0;
 
      public: virtual void Scale(double _x, double _y, double _z) = 0;
 
      public: virtual void Scale(const math::Vector3d &_scale) = 0;
 
      public: virtual bool InheritScale() const = 0;
 
      public: virtual void SetInheritScale(bool _inherit) = 0;
 
      public: virtual unsigned int ChildCount() const = 0;
 
      public: virtual bool HasChild(ConstNodePtr _child) const = 0;
 
      public: virtual bool HasChildId(unsigned int _id) const = 0;
 
      public: virtual bool HasChildName(const std::string &_name) const = 0;
 
      public: virtual NodePtr ChildById(unsigned int _id) const = 0;
 
      public: virtual NodePtr ChildByName(
                  const std::string &_name) const = 0;
 
      public: virtual NodePtr ChildByIndex(unsigned int _index) const = 0;
 
      public: virtual void AddChild(NodePtr _child) = 0;
 
      public: virtual NodePtr RemoveChild(NodePtr _child) = 0;
 
      public: virtual NodePtr RemoveChildById(unsigned int _id) = 0;
 
      public: virtual NodePtr RemoveChildByName(const std::string &_name) = 0;
 
      public: virtual NodePtr RemoveChildByIndex(unsigned int _index) = 0;
 
      public: virtual void RemoveChildren() = 0;
 
      public: virtual void SetUserData(
        const std::string &_key, Variant _value) = 0;
 
      public: virtual Variant UserData(const std::string &_key) const = 0;
 
      public: virtual bool HasUserData(const std::string &_key) const = 0;
    };
    }
  }
}
#endif