17 #ifndef SDF_SEMANTIC_POSE_HH_
18 #define SDF_SEMANTIC_POSE_HH_
22 #include <gz/math/Pose3.hh>
23 #include <gz/utils/ImplPtr.hh>
34 #pragma warning(disable: 4251)
40 inline namespace SDF_VERSION_NAMESPACE {
44 struct PoseRelativeToGraph;
45 template <
typename T>
class ScopedGraph;
58 public:
const gz::math::Pose3d &
RawPose()
const;
74 const std::string &_resolveTo =
"")
const;
84 const gz::math::Pose3d &_pose,
85 const std::string &_relativeTo,
86 const std::string &_defaultResolveTo,
101 const std::string &_name,
102 const gz::math::Pose3d &_pose,
103 const std::string &_relativeTo,
104 const std::string &_defaultResolveTo,
119 GZ_UTILS_IMPL_PTR(dataPtr)
A collision element descibes the collision properties associated with a link.
Definition: Collision.hh:51
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition: Frame.hh:43
Provides a description of a light source.
Definition: Light.hh:64
A description of a particle emitter, which can be attached to a link.
Definition: ParticleEmitter.hh:61
A description of a projector, which can be attached to a link.
Definition: Projector.hh:44
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
const gz::math::Pose3d & RawPose() const
Get the raw Pose3 transform.
Errors Resolve(gz::math::Pose3d &_pose, const std::string &_resolveTo="") const
Resolve pose of this object with respect to another named frame.
const std::string & RelativeTo() const
Get the name of the coordinate frame relative to which this object's pose is expressed.
Information about an SDF sensor.
Definition: Sensor.hh:141
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