InterfaceModelPoseGraph.hh
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17 
18 #ifndef SDF_INTERFACE_MODEL_POSE_GRAPH
19 #define SDF_INTERFACE_MODEL_POSE_GRAPH
20 
21 #include <string>
22 #include <memory>
23 #include <vector>
24 
25 #include <gz/math/Pose3.hh>
26 #include <gz/utils/ImplPtr.hh>
27 
28 #include "sdf/Types.hh"
29 
30 #include "sdf/sdf_config.h"
31 #include "sdf/system_util.hh"
32 
33 namespace sdf
34 {
35 inline namespace SDF_VERSION_NAMESPACE
36 {
37 // Forward declarations.
38 class InterfaceModel;
39 struct PoseRelativeToGraph;
40 template <typename T>
41 class ScopedGraph;
42 
45 {
50  gz::math::Pose3d &_pose) const;
51 
55  public: sdf::Errors ResolveNestedFramePose(gz::math::Pose3d &_pose,
56  const std::string &_frameName,
57  const std::string &_relativeTo = "world") const;
58 
63  private: InterfaceModelPoseGraph(const std::string &_name,
65 
66  friend class InterfaceModel;
68  GZ_UTILS_IMPL_PTR(dataPtr)
69 };
70 }
71 }
72 
73 #endif
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