SemanticPose.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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16  */
17 #ifndef SDF_SEMANTIC_POSE_HH_
18 #define SDF_SEMANTIC_POSE_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <gz/math/Pose3.hh>
23 #include <gz/utils/ImplPtr.hh>
24 
25 #include <sdf/Error.hh>
26 #include <sdf/Element.hh>
27 #include <sdf/sdf_config.h>
28 #include "sdf/system_util.hh"
29 
30 #ifdef _WIN32
31 // Disable warning C4251 which is triggered by
32 // std::unique_ptr
33 #pragma warning(push)
34 #pragma warning(disable: 4251)
35 #endif
36 
37 namespace sdf
38 {
39  // Inline bracket to help doxygen filtering.
40  inline namespace SDF_VERSION_NAMESPACE {
41  //
42 
43  // Forward declare private data class.
44  struct PoseRelativeToGraph;
45  template <typename T> class ScopedGraph;
46 
55  {
58  public: const gz::math::Pose3d &RawPose() const;
59 
64  public: const std::string &RelativeTo() const;
65 
73  public: Errors Resolve(gz::math::Pose3d &_pose,
74  const std::string &_resolveTo = "") const;
75 
83  private: SemanticPose(
84  const gz::math::Pose3d &_pose,
85  const std::string &_relativeTo,
86  const std::string &_defaultResolveTo,
88 
100  private: SemanticPose(
101  const std::string &_name,
102  const gz::math::Pose3d &_pose,
103  const std::string &_relativeTo,
104  const std::string &_defaultResolveTo,
106 
107  friend class Collision;
108  friend class Frame;
109  friend class Joint;
110  friend class Light;
111  friend class Link;
112  friend class ParticleEmitter;
113  friend class Projector;
114  friend class Model;
115  friend class Sensor;
116  friend class Visual;
117 
119  GZ_UTILS_IMPL_PTR(dataPtr)
120  };
121  }
122 }
123 
124 #ifdef _WIN32
125 #pragma warning(pop)
126 #endif
127 
128 #endif
Error.hh
sdf::SDF_VERSION_NAMESPACE::Model
Definition: Model.hh:54
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:34
sdf::SDF_VERSION_NAMESPACE::ParticleEmitter
A description of a particle emitter, which can be attached to a link.
Definition: ParticleEmitter.hh:60
sdf::SDF_VERSION_NAMESPACE::Collision
A collision element descibes the collision properties associated with a link.
Definition: Collision.hh:46
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
sdf_config.h
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:25
sdf::SDF_VERSION_NAMESPACE::Light
Provides a description of a light source.
Definition: Light.hh:63
sdf::SDF_VERSION_NAMESPACE::Joint
Definition: Joint.hh:85
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
sdf::SDF_VERSION_NAMESPACE::Visual
Definition: Visual.hh:48
system_util.hh
sdf::SDF_VERSION_NAMESPACE::Projector
A description of a projector, which can be attached to a link.
Definition: Projector.hh:43
sdf::SDF_VERSION_NAMESPACE::Sensor
Information about an SDF sensor.
Definition: Sensor.hh:140
Element.hh