Collision.hh

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/*
 * Copyright 2018 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_COLLISION_HH_
#define SDF_COLLISION_HH_
 
#include <memory>
#include <optional>
#include <string>
#include <gz/math/Pose3.hh>
#include <gz/math/Vector3.hh>
#include <gz/math/Inertial.hh>
#include <gz/utils/ImplPtr.hh>
#include "sdf/Element.hh"
#include "sdf/SemanticPose.hh"
#include "sdf/Types.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"
#include "sdf/ParserConfig.hh"
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
  // Forward declaration.
  class Geometry;
  class ParserConfig;
  class Surface;
  struct PoseRelativeToGraph;
  template <typename T> class ScopedGraph;
 
  class SDFORMAT_VISIBLE Collision
  {
    public: Collision();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
 
    public: std::string Name() const;
 
    public: void SetName(const std::string &_name);
 
    public: static double DensityDefault();
 
    public: double Density() const;
 
    public: void SetDensity(double _density);
 
    public: sdf::ElementPtr AutoInertiaParams() const;
 
    public: void SetAutoInertiaParams(const sdf::ElementPtr _autoInertiaParams);
 
    public: const Geometry *Geom() const;
 
    public: void SetGeom(const Geometry &_geom);
 
    public: const sdf::Surface *Surface() const;
 
    public: void SetSurface(const sdf::Surface &_surface);
 
    public: const gz::math::Pose3d &RawPose() const;
 
    public: void SetRawPose(const gz::math::Pose3d &_pose);
 
    public: const std::string &PoseRelativeTo() const;
 
    public: void SetPoseRelativeTo(const std::string &_frame);
 
    public: sdf::SemanticPose SemanticPose() const;
 
    public: void CalculateInertial(sdf::Errors &_errors,
                                  gz::math::Inertiald &_inertial,
                                  const ParserConfig &_config);
 
    // if this collision's density has not been explicitly set.
    public: void CalculateInertial(
                    sdf::Errors &_errors,
                    gz::math::Inertiald &_inertial,
                    const ParserConfig &_config,
                    const std::optional<double> &_density,
                    sdf::ElementPtr _autoInertiaParams);
 
    public: sdf::ElementPtr Element() const;
 
    public: sdf::ElementPtr ToElement() const;
 
    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
 
    private: void SetXmlParentName(const std::string &_xmlParentName);
 
    private: void SetPoseRelativeToGraph(
        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
    friend class Link;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif