InterfaceElements.hh

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/*
 * Copyright 2021 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 SDF_INTERFACE_ELEMENTS_HH_
#define SDF_INTERFACE_ELEMENTS_HH_
 
#include <string>
#include <memory>
 
#include <gz/math/Pose3.hh>
#include <gz/utils/ImplPtr.hh>
 
#include "sdf/Element.hh"
#include "sdf/InterfaceModel.hh"
#include "sdf/Types.hh"
 
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"
 
namespace sdf
{
inline namespace SDF_VERSION_NAMESPACE
{
#ifdef _WIN32
// Disable warning C4251 which is triggered by std::string
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
class SDFORMAT_VISIBLE NestedInclude
{
  public: NestedInclude();
  // Defaulted copy, move constructors and destructors are needed to avoid
  // deprecation warnings on memeber variables when simply instantiating this
  // class.
  // TODO(anyone) Remove the constructor and destructor once the deprecated
  // members are removed.
  SDF_SUPPRESS_DEPRECATED_BEGIN
  public: NestedInclude(const NestedInclude&) = default;
  public: NestedInclude(NestedInclude&&) = default;
  public: NestedInclude& operator=(const NestedInclude&) = default;
  public: NestedInclude& operator=(NestedInclude&&) = default;
  public: ~NestedInclude() = default;
  SDF_SUPPRESS_DEPRECATED_END
 
  public: const std::string &Uri() const;
 
  public: void SetUri(const std::string &_uri);
 
  public: const std::string &ResolvedFileName() const;
 
  public: void SetResolvedFileName(const std::string &_resolvedFileName);
 
  public: const std::string &AbsoluteParentName() const;
 
  public: void SetAbsoluteParentName(const std::string &_absoluteparentname);
 
  public: const std::optional<std::string> &LocalModelName() const;
 
  public: void SetLocalModelName(const std::string &_localModelName);
 
  public: const std::optional<bool> &IsStatic() const;
 
  public: void SetIsStatic(bool _isStatic);
 
  public: const std::optional<gz::math::Pose3d> &IncludeRawPose() const;
 
  public: void SetIncludeRawPose(const gz::math::Pose3d &_includeRawPose);
 
  public: const std::optional<std::string> &IncludePoseRelativeTo() const;
 
  public: void SetIncludePoseRelativeTo(
              const std::string &_includePoseRelativeTo);
 
  public: const std::optional<std::string> &PlacementFrame() const;
 
  public: void SetPlacementFrame(const std::string &_placementFrame);
 
  public: sdf::ElementPtr IncludeElement() const;
 
  public: void SetIncludeElement(sdf::ElementPtr _includeElement);
 
 
  public: void SetIsMerge(bool _isMerge);
 
  public: const std::optional<bool> &IsMerge() const;
 
  public: std::string uri SDF_DEPRECATED(12);
 
  public: std::string resolvedFileName SDF_DEPRECATED(12);
 
  public: std::string absoluteParentName SDF_DEPRECATED(12);
 
  public: std::optional<std::string> localModelName SDF_DEPRECATED(12);
 
  public: std::optional<bool> isStatic SDF_DEPRECATED(12);
 
  public: std::optional<gz::math::Pose3d> includeRawPose
              SDF_DEPRECATED(12);
 
  public: std::optional<std::string> includePoseRelativeTo SDF_DEPRECATED(12);
 
  public: std::optional<std::string> placementFrame SDF_DEPRECATED(12);
 
  public: sdf::ElementPtr includeElement SDF_DEPRECATED(12);
 
  IGN_UTILS_IMPL_PTR(dataPtr)
};
#ifdef _MSC_VER
#pragma warning(pop)
#endif
 
using CustomModelParser =
    std::function<sdf::InterfaceModelPtr(const sdf::NestedInclude &, Errors &)>;
}
}
 
#endif