Root.hh

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/*
 * Copyright 2017 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_ROOT_HH_
#define SDF_ROOT_HH_
 
#include <string>
#include <vector>
#include <gz/utils/ImplPtr.hh>
 
#include "sdf/OutputConfig.hh"
#include "sdf/ParserConfig.hh"
#include "sdf/SDFImpl.hh"
#include "sdf/Types.hh"
#include "sdf/config.hh"
#include "sdf/system_util.hh"
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
 
  // Forward declarations.
  class Actor;
  class Light;
  class Model;
  class World;
 
  class SDFORMAT_VISIBLE Root
  {
    public: Root();
 
    public: Errors WorldNamesFromFile(const std::string &_filename,
                                     std::vector<std::string> &_worldNames);
 
    public: Errors Load(const std::string &_filename);
 
    public: Errors Load(
                const std::string &_filename, const ParserConfig &_config);
 
    public: Errors LoadSdfString(const std::string &_sdf);
 
    public: Errors LoadSdfString(
                const std::string &_sdf, const ParserConfig &_config);
 
    public: Errors Load(const SDFPtr _sdf);
 
    public: Errors Load(const SDFPtr _sdf, const ParserConfig &_config);
 
    public: std::string Version() const;
 
    public: void SetVersion(const std::string &_version);
 
    public: uint64_t WorldCount() const;
 
    public: const World *WorldByIndex(const uint64_t _index) const;
 
    public: World *WorldByIndex(const uint64_t _index);
 
    public: const World *WorldByName(const std::string &_name) const;
 
    public: World *WorldByName(const std::string &_name);
 
    public: bool WorldNameExists(const std::string &_name) const;
 
    public: const sdf::Model *Model() const;
 
    public: void SetModel(const sdf::Model &_model);
 
    public: const sdf::Light *Light() const;
 
    public: void SetLight(const sdf::Light &_light);
 
    public: const sdf::Actor *Actor() const;
 
    public: void SetActor(const sdf::Actor &_actor);
 
    public: sdf::ElementPtr Element() const;
 
    public: Errors AddWorld(const World &_world);
 
    public: void ClearWorlds();
 
    public: sdf::Root Clone() const;
 
    public: Errors UpdateGraphs();
 
    public: void ResolveAutoInertials(sdf::Errors &_errors,
      const ParserConfig &_config);
 
    public: sdf::ElementPtr ToElement(
        const OutputConfig &_config = OutputConfig::GlobalConfig()) const;
 
    public: void ClearActorLightModel();
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif