Mesh.hh
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1 /*
2  * Copyright 2018 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.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef SDF_MESH_HH_
18 #define SDF_MESH_HH_
19 
20 #include <string>
21 #include <gz/math/Vector3.hh>
22 #include <gz/utils/ImplPtr.hh>
23 #include <sdf/Element.hh>
24 #include <sdf/Error.hh>
25 #include <sdf/sdf_config.h>
26 
27 namespace sdf
28 {
29  // Inline bracket to help doxygen filtering.
30  inline namespace SDF_VERSION_NAMESPACE {
31  //
32 
33  // Forward declarations.
34  class ParserConfig;
35 
39  {
41  public: Mesh();
42 
49  public: Errors Load(ElementPtr _sdf);
50 
58  public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
59 
62  public: std::string Uri() const;
63 
66  public: void SetUri(const std::string &_uri);
67 
70  public: const std::string &FilePath() const;
71 
74  public: void SetFilePath(const std::string &_filePath);
75 
78  public: gz::math::Vector3d Scale() const;
79 
82  public: void SetScale(const gz::math::Vector3d &_scale);
83 
88  public: std::string Submesh() const;
89 
93  public: void SetSubmesh(const std::string &_submesh);
94 
100  public: bool CenterSubmesh() const;
101 
105  public: void SetCenterSubmesh(const bool _center);
106 
110  public: sdf::ElementPtr Element() const;
111 
117  public: sdf::ElementPtr ToElement() const;
118 
125  public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
126 
128  GZ_UTILS_IMPL_PTR(dataPtr)
129  };
130  }
131 }
132 #endif
Error.hh
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:34
sdf_config.h
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:25
sdf::SDF_VERSION_NAMESPACE::ParserConfig
This class contains configuration options for the libsdformat parser.
Definition: ParserConfig.hh:84
sdf::SDF_VERSION_NAMESPACE::Element
class GZ_SDFORMAT_VISIBLE Element
Definition: Element.hh:51
sdf::SDF_VERSION_NAMESPACE::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:80
sdf::SDF_VERSION_NAMESPACE::Mesh
Mesh represents a mesh shape, and is usually accessed through a Geometry.
Definition: Mesh.hh:38
sdf::SDF_VERSION_NAMESPACE::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:55
Element.hh