InterfaceModel.hh

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/*
 * Copyright 2021 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_INTERFACE_MODEL_HH_
#define SDF_INTERFACE_MODEL_HH_
 
#include <functional>
#include <string>
#include <memory>
#include <vector>
 
#include <gz/math/Pose3.hh>
#include <gz/utils/ImplPtr.hh>
 
#include "sdf/InterfaceFrame.hh"
#include "sdf/InterfaceJoint.hh"
#include "sdf/InterfaceLink.hh"
#include "sdf/InterfaceModelPoseGraph.hh"
#include "sdf/Types.hh"
 
#include "sdf/config.hh"
#include "sdf/system_util.hh"
 
namespace sdf
{
inline namespace SDF_VERSION_NAMESPACE
{
class InterfaceModel;
class Model;
struct PoseRelativeToGraph;
template <typename T>
class ScopedGraph;
class World;
 
using InterfaceModelPtr = std::shared_ptr<InterfaceModel>;
using InterfaceModelConstPtr = std::shared_ptr<const InterfaceModel>;
 
using RepostureFunction =
    std::function<void(const sdf::InterfaceModelPoseGraph &)>;
 
class SDFORMAT_VISIBLE InterfaceModel
{
  public: InterfaceModel(const std::string &_name,
              const sdf::RepostureFunction &_repostureFunction,
              bool _static,
              const std::string &_canonicalLinkName,
              const gz::math::Pose3d &_poseInParentFrame = {});
 
  public: const std::string &Name() const;
 
  public: bool Static() const;
 
  public: const std::string &CanonicalLinkName() const;
 
  public: const gz::math::Pose3d &ModelFramePoseInParentFrame() const;
 
  public: void AddNestedModel(sdf::InterfaceModelConstPtr _nestedModel);
 
  public: const std::vector<sdf::InterfaceModelConstPtr> &NestedModels() const;
 
  public: void AddFrame(sdf::InterfaceFrame _frame);
 
  public: const std::vector<sdf::InterfaceFrame> &Frames() const;
 
  public: void AddJoint(sdf::InterfaceJoint _joint);
 
  public: const std::vector<sdf::InterfaceJoint> &Joints() const;
 
  public: void AddLink(sdf::InterfaceLink _link);
 
  public: const std::vector<sdf::InterfaceLink> &Links() const;
 
  public: bool ParserSupportsMergeInclude() const;
 
  public: void SetParserSupportsMergeInclude(bool _val);
 
  private: void InvokeRepostureFunction(
               sdf::ScopedGraph<PoseRelativeToGraph> _graph,
               const std::optional<std::string> &_name) const;
 
  friend World;
  friend Model;
  GZ_UTILS_IMPL_PTR(dataPtr)
};
}
}
 
#endif