InterfaceElements.hh
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2  * Copyright 2021 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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13  * See the License for the specific language governing permissions and
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17 #ifndef SDF_INTERFACE_ELEMENTS_HH_
18 #define SDF_INTERFACE_ELEMENTS_HH_
19 
20 #include <string>
21 #include <memory>
22 
23 #include <gz/math/Pose3.hh>
24 #include <gz/utils/ImplPtr.hh>
25 
26 #include "sdf/Element.hh"
27 #include "sdf/InterfaceModel.hh"
28 #include "sdf/Types.hh"
29 
30 #include "sdf/sdf_config.h"
31 #include "sdf/system_util.hh"
32 
33 namespace sdf
34 {
35 inline namespace SDF_VERSION_NAMESPACE
36 {
37 #ifdef _WIN32
38 // Disable warning C4251 which is triggered by std::string
39 #pragma warning(push)
40 #pragma warning(disable: 4251)
41 #endif
42 class SDFORMAT_VISIBLE NestedInclude
45 {
47  public: NestedInclude();
48  // Defaulted copy, move constructors and destructors are needed to avoid
49  // deprecation warnings on memeber variables when simply instantiating this
50  // class.
51  // TODO(anyone) Remove the constructor and destructor once the deprecated
52  // members are removed.
54  public: NestedInclude(const NestedInclude&) = default;
55  public: NestedInclude(NestedInclude&&) = default;
56  public: NestedInclude& operator=(const NestedInclude&) = default;
57  public: NestedInclude& operator=(NestedInclude&&) = default;
58  public: ~NestedInclude() = default;
60 
65  public: const std::string &Uri() const;
66 
69  public: void SetUri(const std::string &_uri);
70 
76  public: const std::string &ResolvedFileName() const;
77 
80  public: void SetResolvedFileName(const std::string &_resolvedFileName);
81 
88  public: const std::string &AbsoluteParentName() const;
89 
92  public: void SetAbsoluteParentName(const std::string &_absoluteparentname);
93 
100  public: const std::optional<std::string> &LocalModelName() const;
101 
105  public: void SetLocalModelName(const std::string &_localModelName);
106 
111  public: const std::optional<bool> &IsStatic() const;
112 
115  public: void SetIsStatic(bool _isStatic);
116 
120  public: const std::optional<gz::math::Pose3d> &IncludeRawPose() const;
121 
124  public: void SetIncludeRawPose(const gz::math::Pose3d &_includeRawPose);
125 
131  public: const std::optional<std::string> &IncludePoseRelativeTo() const;
132 
135  public: void SetIncludePoseRelativeTo(
136  const std::string &_includePoseRelativeTo);
137 
142  public: const std::optional<std::string> &PlacementFrame() const;
143 
146  public: void SetPlacementFrame(const std::string &_placementFrame);
147 
151  public: sdf::ElementPtr IncludeElement() const;
152 
155  public: void SetIncludeElement(sdf::ElementPtr _includeElement);
156 
157 
161  public: void SetIsMerge(bool _isMerge);
162 
166  public: const std::optional<bool> &IsMerge() const;
167 
172  public: std::string uri SDF_DEPRECATED(12);
173 
179  public: std::string resolvedFileName SDF_DEPRECATED(12);
180 
187  public: std::string absoluteParentName SDF_DEPRECATED(12);
188 
195  public: std::optional<std::string> localModelName SDF_DEPRECATED(12);
196 
200  public: std::optional<bool> isStatic SDF_DEPRECATED(12);
201 
205  public: std::optional<gz::math::Pose3d> includeRawPose
207 
212  public: std::optional<std::string> includePoseRelativeTo SDF_DEPRECATED(12);
213 
217  public: std::optional<std::string> placementFrame SDF_DEPRECATED(12);
218 
222  public: sdf::ElementPtr includeElement SDF_DEPRECATED(12);
223 
225  IGN_UTILS_IMPL_PTR(dataPtr)
226 };
227 #ifdef _MSC_VER
228 #pragma warning(pop)
229 #endif
230 
264 using CustomModelParser =
266 }
267 }
268 
269 #endif
SDF_SUPPRESS_DEPRECATED_BEGIN
#define SDF_SUPPRESS_DEPRECATED_BEGIN
Definition: Types.hh:54
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:34
SDF_SUPPRESS_DEPRECATED_END
#define SDF_SUPPRESS_DEPRECATED_END
Definition: Types.hh:55
sdf::SDF_VERSION_NAMESPACE::InterfaceModelPtr
std::shared_ptr< InterfaceModel > InterfaceModelPtr
Definition: InterfaceModel.hh:49
SDF_DEPRECATED
#define SDF_DEPRECATED(version)
Definition: Types.hh:39
Types.hh
sdf_config.h
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:25
sdf::SDF_VERSION_NAMESPACE::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
sdf::SDF_VERSION_NAMESPACE::NestedInclude
Contains the necessary information about an included model file for custom model parsers to be able t...
Definition: InterfaceElements.hh:44
system_util.hh
sdf::SDF_VERSION_NAMESPACE::CustomModelParser
std::function< sdf::InterfaceModelPtr(const sdf::NestedInclude &, Errors &)> CustomModelParser
Defines a custom model parser.
Definition: InterfaceElements.hh:265
InterfaceModel.hh
sdf::SDF_VERSION_NAMESPACE::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
Element.hh