22 #include <gz/math/Pose3.hh>
23 #include <gz/utils/ImplPtr.hh>
33 inline namespace SDF_VERSION_NAMESPACE {
38 struct FrameAttachedToGraph;
39 struct PoseRelativeToGraph;
40 template <
typename T>
class ScopedGraph;
101 public:
const std::string &
Name()
const;
106 public:
void SetName(
const std::string &_name);
135 public:
GZ_DEPRECATED(13) const std::
string &ParentLinkName() const;
140 public:
GZ_DEPRECATED(13)
void SetParentLinkName(const std::
string &_name);
145 public:
GZ_DEPRECATED(13) const std::
string &ChildLinkName() const;
150 public:
GZ_DEPRECATED(13)
void SetChildLinkName(const std::
string &_name);
156 public:
Errors ResolveChildLink(std::
string &_link) const;
162 public:
Errors ResolveParentLink(std::
string &_link) const;
172 public: const
JointAxis *Axis(const
unsigned int _index = 0) const;
180 public:
void SetAxis(const
unsigned int _index, const
JointAxis &_axis);
187 public: const gz::math::Pose3d &RawPose() const;
192 public:
void SetRawPose(const gz::math::Pose3d &_pose);
198 public: const std::
string &PoseRelativeTo() const;
204 public:
void SetPoseRelativeTo(const std::
string &_frame);
210 public:
double ScrewThreadPitch() const;
215 public:
void SetScrewThreadPitch(
double _threadPitch);
221 public:
double ThreadPitch() const;
227 public:
void SetThreadPitch(
double _threadPitch);
242 public: uint64_t SensorCount() const;
249 public: const
Sensor *SensorByIndex(const uint64_t _index) const;
256 public:
Sensor *SensorByIndex(uint64_t _index);
261 public:
bool SensorNameExists(const std::
string &_name) const;
268 public: const
Sensor *SensorByName(const std::
string &_name) const;
275 public:
Sensor *SensorByName(const std::
string &_name);
288 public:
bool AddSensor(const
Sensor &_sensor);
291 public:
void ClearSensors();
297 private:
void SetFrameAttachedToGraph(
303 private:
void SetPoseRelativeToGraph(
313 GZ_UTILS_IMPL_PTR(dataPtr)
SDF Element class.
Definition: Element.hh:76
Parameters related to the axis of rotation for rotational joints, and the axis of translation for pri...
Definition: JointAxis.hh:122
const std::string & ParentName() const
Get the name of this joint's parent frame.
const std::string & ChildName() const
Get the name of this joint's child frame.
void SetChildName(const std::string &_name)
Set the name of the child frame.
void SetType(const JointType _jointType)
Set the joint type.
void SetName(const std::string &_name)
Set the name of the joint.
void SetParentName(const std::string &_name)
Set the name of the parent frame.
JointType Type() const
Get the joint type.
Joint()
Default constructor.
const std::string & Name() const
Get the name of the joint.
Errors Load(ElementPtr _sdf)
Load the joint based on a element pointer.
Definition: Collision.hh:44
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:55
Information about an SDF sensor.
Definition: Sensor.hh:141
JointType
The set of joint types.
Definition: Joint.hh:47
@ REVOLUTE
A hinge joint that rotates on a single axis with a fixed range of motion.
@ BALL
A ball and socket joint.
@ SCREW
A single degree of freedom joint with coupled sliding and rotational motion.
@ REVOLUTE2
Same as two revolute joints connected in series.
@ GEARBOX
Geared revolute joint.
@ PRISMATIC
A sliding joint that slides along an axis with a limited range specified by upper and lower limits.
@ UNIVERSAL
Similar to a ball joint, but constrains one degree of freedom.
@ CONTINUOUS
A hinge joint that rotates on a single axis with a continuous range of motion.
@ FIXED
A joint with zero degrees of freedom that rigidly connects two links.
@ INVALID
An invalid joint.
class GZ_SDFORMAT_VISIBLE GZ_DEPRECATED(13) Inertia
A class for inertial information about a link.
Definition: Types.hh:162
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:95
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:55
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