Frame.hh
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1 /*
2  * Copyright 2019 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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15  *
16  */
17 #ifndef SDF_FRAME_HH_
18 #define SDF_FRAME_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <gz/math/Pose3.hh>
23 #include <gz/utils/ImplPtr.hh>
24 #include "sdf/Element.hh"
25 #include "sdf/SemanticPose.hh"
26 #include "sdf/Types.hh"
27 #include "sdf/sdf_config.h"
28 #include "sdf/system_util.hh"
29 
30 namespace sdf
31 {
32  // Inline bracket to help doxygen filtering.
33  inline namespace SDF_VERSION_NAMESPACE {
34  //
35  // Forward declaration.
36  struct FrameAttachedToGraph;
37  struct PoseRelativeToGraph;
38  template <typename T> class ScopedGraph;
39 
43  {
45  public: Frame();
46 
53  public: Errors Load(ElementPtr _sdf);
54 
58  public: const std::string &Name() const;
59 
63  public: void SetName(const std::string &_name);
64 
73  public: const std::string &AttachedTo() const;
74 
83  public: void SetAttachedTo(const std::string &_frame);
84 
90  public: const gz::math::Pose3d &RawPose() const;
91 
96  public: void SetRawPose(const gz::math::Pose3d &_pose);
97 
102  public: const std::string &PoseRelativeTo() const;
103 
108  public: void SetPoseRelativeTo(const std::string &_frame);
109 
113  public: sdf::ElementPtr Element() const;
114 
120  public: Errors ResolveAttachedToBody(std::string &_body) const;
121 
125  public: sdf::SemanticPose SemanticPose() const;
126 
132  public: sdf::ElementPtr ToElement() const;
133 
140  public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
141 
146  private: void SetFrameAttachedToGraph(
148 
153  private: void SetPoseRelativeToGraph(
155 
157  friend class Model;
158  friend class World;
159 
161  GZ_UTILS_IMPL_PTR(dataPtr)
162  };
163  }
164 }
165 #endif
sdf::SDF_VERSION_NAMESPACE::Model
Definition: Model.hh:54
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:34
sdf::SDF_VERSION_NAMESPACE::Frame
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition: Frame.hh:42
Types.hh
SemanticPose.hh
sdf_config.h
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:25
sdf::SDF_VERSION_NAMESPACE::Element
class GZ_SDFORMAT_VISIBLE Element
Definition: Element.hh:51
sdf::SDF_VERSION_NAMESPACE::SemanticPose
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:54
sdf::SDF_VERSION_NAMESPACE::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:80
sdf::SDF_VERSION_NAMESPACE::ScopedGraph
Definition: Collision.hh:40
system_util.hh
sdf::SDF_VERSION_NAMESPACE::World
Definition: World.hh:58
sdf::SDF_VERSION_NAMESPACE::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:55
Element.hh