18 #ifndef SDF_INTERFACE_MODEL_POSE_GRAPH
19 #define SDF_INTERFACE_MODEL_POSE_GRAPH
25 #include <gz/math/Pose3.hh>
26 #include <gz/utils/ImplPtr.hh>
35 inline namespace SDF_VERSION_NAMESPACE
39 struct PoseRelativeToGraph;
50 gz::math::Pose3d &_pose)
const;
56 const std::string &_frameName,
57 const std::string &_relativeTo =
"world")
const;
68 GZ_UTILS_IMPL_PTR(dataPtr)
Class used in reposture callbacks of custom parsers to resolve poses.
Definition: InterfaceModelPoseGraph.hh:45
sdf::Errors ResolveNestedFramePose(gz::math::Pose3d &_pose, const std::string &_frameName, const std::string &_relativeTo="world") const
Resolve the pose a frame within the model's scope.
sdf::Errors ResolveNestedModelFramePoseInWorldFrame(gz::math::Pose3d &_pose) const
Resolve pose relative to world.
Interface element representing a Model.
Definition: InterfaceModel.hh:58
Definition: Collision.hh:44
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:95
namespace for Simulation Description Format parser
Definition: Actor.hh:35
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:25