sdf::SDF_VERSION_NAMESPACE::Actor Class Reference

Provides a description of an actor. More...

#include <Actor.hh>

Public Member Functions
	Actor ()
	Default constructor.
void	AddAnimation (const Animation &_anim)
	Add a new animation.
bool	AddJoint (const Joint &_joint)
	Add a joint to the actor.
bool	AddLink (const Link &_link)
	Add a link to the actor.
void	AddPlugin (const Plugin &_plugin)
	Add a plugin to this object.
void	AddTrajectory (const Trajectory &_traj)
	Add a new trajectory.
const Animation *	AnimationByIndex (uint64_t _index) const
	Get an animation based on an index.
uint64_t	AnimationCount () const
	Get the number of animations.
bool	AnimationNameExists (const std::string &_name) const
	Get whether an animation name exists.
void	ClearJoints ()
	Remove all joints.
void	ClearLinks ()
	Remove all links.
void	ClearPlugins ()
	Remove all plugins.
sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load.
const std::string &	FilePath () const
	The path to the file where this element was loaded from.
const Joint *	JointByIndex (uint64_t _index) const
	Get a joint based on an index.
uint64_t	JointCount () const
	Get the number of joints.
bool	JointNameExists (const std::string &_name) const
	Get whether a joint name exists.
const Link *	LinkByIndex (uint64_t _index) const
	Get a link based on an index.
uint64_t	LinkCount () const
	Get the number of links.
bool	LinkNameExists (const std::string &_name) const
	Get whether a link name exists.
Errors	Load (ElementPtr _sdf)
	Load the actor based on a element pointer.
const std::string &	Name () const
	Get the name of the actor.
sdf::Plugins &	Plugins ()
	Get a mutable vector of plugins attached to this object.
const sdf::Plugins &	Plugins () const
	Get the plugins attached to this object.
const std::string &	PoseRelativeTo () const
	Get the name of the coordinate frame relative to which this object's pose is expressed.
const gz::math::Pose3d &	RawPose () const
	Get the pose of the actor.
bool	ScriptAutoStart () const
	Get whether the animation plays when simulation starts.
double	ScriptDelayStart () const
	Get the time (in seconds) of delay to start.
bool	ScriptLoop () const
	Get whether the animation plays in loop.
void	SetFilePath (const std::string &_filePath)
	Set the path to the file where this element was loaded from.
void	SetName (const std::string &_name)
	Set the name of the actor.
void	SetPoseRelativeTo (const std::string &_frame)
	Set the name of the coordinate frame relative to which this object's pose is expressed.
void	SetRawPose (const gz::math::Pose3d &_pose)
	Set the pose of the actor.
void	SetScriptAutoStart (bool _scriptAutoStart)
	Set whether the animation plays when simulation starts.
void	SetScriptDelayStart (double _scriptDelayStart)
	Set the delay time to start.
void	SetScriptLoop (bool _scriptLoop)
	Set whether the animation plays in loop.
void	SetSkinFilename (std::string _skinFilename)
	Set the skin filename.
void	SetSkinScale (double _skinScale)
	Set the skin scale.
const std::string &	SkinFilename () const
	Get the skin filename.
double	SkinScale () const
	Get the skin scale.
sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this actor.
const Trajectory *	TrajectoryByIndex (uint64_t _index) const
	Get a trajectory based on an index.
uint64_t	TrajectoryCount () const
	Get the number of trajectories.
bool	TrajectoryIdExists (uint64_t _id) const
	Get whether a trajectory id exists.

Detailed Description

Provides a description of an actor.

Constructor & Destructor Documentation

Actor()

sdf::SDF_VERSION_NAMESPACE::Actor::Actor

(

)

Default constructor.

Member Function Documentation

AddAnimation()

void sdf::SDF_VERSION_NAMESPACE::Actor::AddAnimation

(

const Animation &

_anim

)

Add a new animation.

Parameters

[in]

_anim

Animation to be added.

AddJoint()

bool sdf::SDF_VERSION_NAMESPACE::Actor::AddJoint

(

const Joint &

_joint

)

Add a joint to the actor.

Parameters

[in]

_link

Joint to add.

Returns

True if successful, false if a joint with the name already exists.

AddLink()

bool sdf::SDF_VERSION_NAMESPACE::Actor::AddLink

(

const Link &

_link

)

Add a link to the actor.

Parameters

[in]

_link

Link to add.

Returns

True if successful, false if a link with the name already exists.

AddPlugin()

void sdf::SDF_VERSION_NAMESPACE::Actor::AddPlugin

(

const Plugin &

_plugin

)

Add a plugin to this object.

Parameters

[in]

_plugin

Plugin to add.

AddTrajectory()

void sdf::SDF_VERSION_NAMESPACE::Actor::AddTrajectory

(

const Trajectory &

_traj

)

Add a new trajectory.

Parameters

[in]

_traj

Trajectory to be added.

AnimationByIndex()

const Animation * sdf::SDF_VERSION_NAMESPACE::Actor::AnimationByIndex

(

uint64_t

_index

)

const

Get an animation based on an index.

Parameters

[in]

_index

Index of the animation. The index should be in the range [0..AnimationCount()).

Returns

Pointer to the animation. Nullptr if the index does not exist.

See also

uint64_t AnimationCount() const

AnimationCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::Actor::AnimationCount

(

)

const

Get the number of animations.

Returns

Number of animations.

AnimationNameExists()

bool sdf::SDF_VERSION_NAMESPACE::Actor::AnimationNameExists

(

const std::string &

_name

)

const

Get whether an animation name exists.

Parameters

[in]

_name

Name of the animation to check.

Returns

True if there exists an animation with the given name.

ClearJoints()

void sdf::SDF_VERSION_NAMESPACE::Actor::ClearJoints

(

)

Remove all joints.

ClearLinks()

void sdf::SDF_VERSION_NAMESPACE::Actor::ClearLinks

(

)

Remove all links.

ClearPlugins()

void sdf::SDF_VERSION_NAMESPACE::Actor::ClearPlugins

(

)

Remove all plugins.

Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Actor::Element

(

)

const

Get a pointer to the SDF element that was used during load.

Returns

SDF element pointer. The value will be nullptr if Load has not been called.

FilePath()

const std::string & sdf::SDF_VERSION_NAMESPACE::Actor::FilePath

(

)

const

The path to the file where this element was loaded from.

Returns

Full path to the file on disk.

JointByIndex()

const Joint * sdf::SDF_VERSION_NAMESPACE::Actor::JointByIndex

(

uint64_t

_index

)

const

Get a joint based on an index.

Parameters

[in]

_index

Index of the joint. The index should be in the range [0..JointCount()).

Returns

Pointer to the joint. Nullptr if the index does not exist.

See also

uint64_t JointCount() const

JointCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::Actor::JointCount

(

)

const

Get the number of joints.

Returns

Number of joints.

JointNameExists()

bool sdf::SDF_VERSION_NAMESPACE::Actor::JointNameExists

(

const std::string &

_name

)

const

Get whether a joint name exists.

Parameters

[in]

_name

Name of the joint to check.

Returns

True if there exists a joint with the given name.

LinkByIndex()

const Link * sdf::SDF_VERSION_NAMESPACE::Actor::LinkByIndex

(

uint64_t

_index

)

const

Get a link based on an index.

Parameters

[in]

_index

Index of the link. The index should be in the range [0..LinkCount()).

Returns

Pointer to the link. Nullptr if the index does not exist.

See also

uint64_t LinkCount() const

LinkCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::Actor::LinkCount

(

)

const

Get the number of links.

Returns

Number of links.

LinkNameExists()

bool sdf::SDF_VERSION_NAMESPACE::Actor::LinkNameExists

(

const std::string &

_name

)

const

Get whether a link name exists.

Parameters

[in]

_name

Name of the link to check.

Returns

True if there exists a link with the given name.

Load()

Errors sdf::SDF_VERSION_NAMESPACE::Actor::Load

(

ElementPtr

_sdf

)

Load the actor based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in]

_sdf

The SDF Element pointer

Returns

Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

Name()

const std::string & sdf::SDF_VERSION_NAMESPACE::Actor::Name

(

)

const

Get the name of the actor.

Returns

Name of the actor.

Plugins() [1/2]

sdf::Plugins & sdf::SDF_VERSION_NAMESPACE::Actor::Plugins

(

)

Get a mutable vector of plugins attached to this object.

Returns

A vector of Plugin, which will be empty if there are no plugins.

Plugins() [2/2]

const sdf::Plugins & sdf::SDF_VERSION_NAMESPACE::Actor::Plugins

(

)

const

Get the plugins attached to this object.

Returns

A vector of Plugin, which will be empty if there are no plugins.

PoseRelativeTo()

const std::string & sdf::SDF_VERSION_NAMESPACE::Actor::PoseRelativeTo

(

)

const

Get the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the world frame.

Returns

The name of the pose relative-to frame.

RawPose()

const gz::math::Pose3d & sdf::SDF_VERSION_NAMESPACE::Actor::RawPose

(

)

const

Get the pose of the actor.

This is the pose of the actor as specified in SDF (<actor> <pose> ... </pose></actor>), and is typically used to express the position and rotation of an actor in a global coordinate frame.

Returns

The pose of the actor.

ScriptAutoStart()

bool sdf::SDF_VERSION_NAMESPACE::Actor::ScriptAutoStart

(

)

const

Get whether the animation plays when simulation starts.

Returns

True if the animation plays when simulation starts.

ScriptDelayStart()

double sdf::SDF_VERSION_NAMESPACE::Actor::ScriptDelayStart

(

)

const

Get the time (in seconds) of delay to start.

Returns

Time of delay to start.

ScriptLoop()

bool sdf::SDF_VERSION_NAMESPACE::Actor::ScriptLoop

(

)

const

Get whether the animation plays in loop.

Returns

True if the animation plays in loop.

SetFilePath()

void sdf::SDF_VERSION_NAMESPACE::Actor::SetFilePath

(

const std::string &

_filePath

)

Set the path to the file where this element was loaded from.

\paramp[in] _filePath Full path to the file on disk.

SetName()

void sdf::SDF_VERSION_NAMESPACE::Actor::SetName

(

const std::string &

_name

)

Set the name of the actor.

Parameters

[in]

_name

Name of the actor.

SetPoseRelativeTo()

void sdf::SDF_VERSION_NAMESPACE::Actor::SetPoseRelativeTo

(

const std::string &

_frame

)

Set the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the world frame.

Parameters

[in]

_frame

The name of the pose relative-to frame.

SetRawPose()

void sdf::SDF_VERSION_NAMESPACE::Actor::SetRawPose

(

const gz::math::Pose3d &

_pose

)

Set the pose of the actor.

See also

const gz::math::Pose3d &RawPose() const

Parameters

[in]

_pose

The new actor pose.

SetScriptAutoStart()

void sdf::SDF_VERSION_NAMESPACE::Actor::SetScriptAutoStart

(

bool

_scriptAutoStart

)

Set whether the animation plays when simulation starts.

Parameters

[in]

_staticAutoStart

True to indicate that the animation plays when simulation starts.

SetScriptDelayStart()

void sdf::SDF_VERSION_NAMESPACE::Actor::SetScriptDelayStart

(

double

_scriptDelayStart

)

Set the delay time to start.

Parameters

[in]

_scriptDelayStart

Time of delay to start.

SetScriptLoop()

void sdf::SDF_VERSION_NAMESPACE::Actor::SetScriptLoop

(

bool

_scriptLoop

)

Set whether the animation plays in loop.

Parameters

[in]

_scriptLoop

True to indicate that the animation plays in loop.

SetSkinFilename()

void sdf::SDF_VERSION_NAMESPACE::Actor::SetSkinFilename

(

std::string

_skinFilename

)

Set the skin filename.

Parameters

[in]

_skinFilename

Skin filename.

SetSkinScale()

void sdf::SDF_VERSION_NAMESPACE::Actor::SetSkinScale

(

double

_skinScale

)

Set the skin scale.

Parameters

[in]

_skinScale

Skin scale.

SkinFilename()

const std::string & sdf::SDF_VERSION_NAMESPACE::Actor::SkinFilename

(

)

const

Get the skin filename.

Returns

Constant skin filename.

SkinScale()

double sdf::SDF_VERSION_NAMESPACE::Actor::SkinScale

(

)

const

Get the skin scale.

Returns

Constant skin filename.

ToElement()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Actor::ToElement

(

)

const

Create and return an SDF element filled with data from this actor.

Note that parameter passing functionality is not captured with this function.

Returns

SDF element pointer with updated actor values.

TrajectoryByIndex()

const Trajectory * sdf::SDF_VERSION_NAMESPACE::Actor::TrajectoryByIndex

(

uint64_t

_index

)

const

Get a trajectory based on an index.

Parameters

[in]

_index

Index of the trajectory. The index should be in the range [0..TrajectoryCount()).

Returns

Pointer to the trajectory. Nullptr if the index does not exist.

See also

uint64_t TrajectoryCount() const

TrajectoryCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::Actor::TrajectoryCount

(

)

const

Get the number of trajectories.

Returns

Number of trajectories.

TrajectoryIdExists()

bool sdf::SDF_VERSION_NAMESPACE::Actor::TrajectoryIdExists

(

uint64_t

_id

)

const

Get whether a trajectory id exists.

Parameters

[in]

_id

Id of the trajectory to check.

Returns

True if there exists a trajectory with the given name.

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The documentation for this class was generated from the following file:

• Actor.hh