Link.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_LINK_HH_
#define SDF_LINK_HH_
 
#include <memory>
#include <optional>
#include <string>
#include <gz/math/Inertial.hh>
#include <gz/math/Pose3.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"
#include "sdf/Error.hh"
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
 
  // Forward declarations.
  class Collision;
  class Light;
  class ParserConfig;
  class ParticleEmitter;
  class Projector;
  class Sensor;
  class Visual;
  struct PoseRelativeToGraph;
  template <typename T> class ScopedGraph;
 
  class SDFORMAT_VISIBLE Link
  {
    public: Link();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: Errors Load(ElementPtr _sdf, const ParserConfig &_config);
 
    public: std::string Name() const;
 
    public: void SetName(const std::string &_name);
 
    public: std::optional<double> Density() const;
 
    public: void SetDensity(double _density);
 
    public: sdf::ElementPtr AutoInertiaParams() const;
 
    public: void SetAutoInertiaParams(const sdf::ElementPtr _autoInertiaParams);
 
    public: uint64_t VisualCount() const;
 
    public: const Visual *VisualByIndex(const uint64_t _index) const;
 
    public: Visual *VisualByIndex(uint64_t _index);
 
    public: bool VisualNameExists(const std::string &_name) const;
 
    public: const Visual *VisualByName(const std::string &_name) const;
 
    public: Visual *VisualByName(const std::string &_name);
 
    public: uint64_t CollisionCount() const;
 
    public: const Collision *CollisionByIndex(const uint64_t _index) const;
 
    public: Collision *CollisionByIndex(uint64_t _index);
 
    public: bool CollisionNameExists(const std::string &_name) const;
 
    public: const Collision *CollisionByName(const std::string &_name) const;
 
    public: Collision *CollisionByName(const std::string &_name);
 
    public: uint64_t LightCount() const;
 
    public: const Light *LightByIndex(const uint64_t _index) const;
 
    public: Light *LightByIndex(uint64_t _index);
 
    public: bool LightNameExists(const std::string &_name) const;
 
    public: const Light *LightByName(const std::string &_name) const;
 
    public: Light *LightByName(const std::string &_name);
 
    public: uint64_t SensorCount() const;
 
    public: const Sensor *SensorByIndex(const uint64_t _index) const;
 
    public: Sensor *SensorByIndex(uint64_t _index);
 
    public: bool SensorNameExists(const std::string &_name) const;
 
    public: const Sensor *SensorByName(const std::string &_name) const;
 
    public: Sensor *SensorByName(const std::string &_name);
 
    public: uint64_t ParticleEmitterCount() const;
 
    public: const ParticleEmitter *ParticleEmitterByIndex(
                const uint64_t _index) const;
 
    public: ParticleEmitter *ParticleEmitterByIndex(uint64_t _index);
 
    public: bool ParticleEmitterNameExists(const std::string &_name) const;
 
    public: const ParticleEmitter *ParticleEmitterByName(
                const std::string &_name) const;
 
    public: ParticleEmitter *ParticleEmitterByName(const std::string &_name);
 
    public: uint64_t ProjectorCount() const;
 
    public: const Projector *ProjectorByIndex(
                const uint64_t _index) const;
 
    public: Projector *ProjectorByIndex(uint64_t _index);
 
    public: bool ProjectorNameExists(const std::string &_name) const;
 
    public: const Projector *ProjectorByName(
                const std::string &_name) const;
 
    public: Projector *ProjectorByName(const std::string &_name);
 
    public: const gz::math::Inertiald &Inertial() const;
 
    public: bool SetInertial(const gz::math::Inertiald &_inertial);
 
    public: Errors ResolveInertial(gz::math::Inertiald &_inertial,
                                   const std::string &_resolveTo = "") const;
 
    public: void ResolveAutoInertials(sdf::Errors &_errors,
                                    const ParserConfig &_config);
 
    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::ElementPtr Element() const;
 
    public: sdf::SemanticPose SemanticPose() const;
 
    private: void SetPoseRelativeToGraph(
        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
    friend class Model;
 
    public: bool EnableWind() const;
 
    public: bool EnableGravity() const;
 
    public: void SetEnableWind(bool _enableWind);
 
    public: void SetEnableGravity(bool _enableGravity);
 
    public: bool AutoInertia() const;
 
    public: void SetAutoInertia(bool _autoInertia);
 
    public: bool AutoInertiaSaved() const;
 
    public: void SetAutoInertiaSaved(bool _autoInertiaSaved);
 
    public: bool AddCollision(const Collision &_collision);
 
    public: bool AddVisual(const Visual &_visual);
 
    public: bool AddLight(const Light &_light);
 
    public: bool AddSensor(const Sensor &_sensor);
 
    public: bool AddParticleEmitter(const ParticleEmitter &_emitter);
 
    public: bool AddProjector(const Projector &_projector);
 
    public: void ClearCollisions();
 
    public: void ClearVisuals();
 
    public: void ClearLights();
 
    public: void ClearSensors();
 
    public: void ClearParticleEmitters();
 
    public: void ClearProjectors();
 
    public: sdf::ElementPtr ToElement() const;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif