sdf::SDF_VERSION_NAMESPACE::InterfaceModel Class Reference

Interface element representing a Model. More...

#include <InterfaceModel.hh>

Public Member Functions
	InterfaceModel (const std::string &_name, const sdf::RepostureFunction &_repostureFunction, bool _static, const std::string &_canonicalLinkName, const gz::math::Pose3d &_poseInParentFrame={})
	Constructor.
void	AddFrame (sdf::InterfaceFrame _frame)
	Add an interface frame.
void	AddJoint (sdf::InterfaceJoint _joint)
	Add an interface joint.
void	AddLink (sdf::InterfaceLink _link)
	Add an interface link.
void	AddNestedModel (sdf::InterfaceModelConstPtr _nestedModel)
	Provided so that hierarchy can still be leveraged from SDFormat.
const std::string &	CanonicalLinkName () const
	Get the canonical link name.
const std::vector< sdf::InterfaceFrame > &	Frames () const
	Gets registered frames.
const std::vector< sdf::InterfaceJoint > &	Joints () const
	Gets registered joints.
const std::vector< sdf::InterfaceLink > &	Links () const
	Gets registered links.
const gz::math::Pose3d &	ModelFramePoseInParentFrame () const
	Get the pose of this model in the parent frame.
const std::string &	Name () const
	Get the name of the model.
const std::vector< sdf::InterfaceModelConstPtr > &	NestedModels () const
	Gets registered nested models.
bool	ParserSupportsMergeInclude () const
	Whether the custom parser supports merge-include.
void	SetParserSupportsMergeInclude (bool _val)
	Set whether the custom parser supports merge-include.
bool	Static () const
	Get whether the model is static.

Detailed Description

Interface element representing a Model.

Constructor & Destructor Documentation

InterfaceModel()

sdf::SDF_VERSION_NAMESPACE::InterfaceModel::InterfaceModel	(	const std::string &	_name,
		const sdf::RepostureFunction &	_repostureFunction,
		bool	_static,
		const std::string &	_canonicalLinkName,
		const gz::math::Pose3d &	_poseInParentFrame = {}
	)

Constructor.

Parameters

[in]	name	The local name (no nesting, e.g. "::"). If this name contains "::", an error will be raised.
[in]	_static	Whether the model is static
[in]	_canonicalLinkName	The canonical link's name. This is the resolved name of the canonical link, therefore, it cannot be an empty string. The link must be added to the model. If the canonical link is nested in a child model, this should be the relative name (using the "::" delimiter) of the canonical link in the scope of this model.
[in]	_poseInParentFrame	Model frame pose relative to the parent frame. Defaults to identity.

Note

This will not be used if //include/pose is specified.

Member Function Documentation

AddFrame()

void sdf::SDF_VERSION_NAMESPACE::InterfaceModel::AddFrame

(

sdf::InterfaceFrame

_frame

)

Add an interface frame.

Provided so that the including SDFormat model can still interface with the declared frames.

Parameters

[in]

_frame

A child interface frame.

AddJoint()

void sdf::SDF_VERSION_NAMESPACE::InterfaceModel::AddJoint

(

sdf::InterfaceJoint

_joint

)

Add an interface joint.

Provided so that the including SDFormat model can still interface with the declared joints.

Parameters

[in]

_joint

A child interface joint.

AddLink()

void sdf::SDF_VERSION_NAMESPACE::InterfaceModel::AddLink

(

sdf::InterfaceLink

_link

)

Add an interface link.

Provided so that the including SDFormat model can still interface with the declared links.

Parameters

[in]

_link

A child interface link.

AddNestedModel()

void sdf::SDF_VERSION_NAMESPACE::InterfaceModel::AddNestedModel

(

sdf::InterfaceModelConstPtr

_nestedModel

)

Provided so that hierarchy can still be leveraged from SDFormat.

Parameters

[in]

_nestedModel

A child interface model.

CanonicalLinkName()

const std::string & sdf::SDF_VERSION_NAMESPACE::InterfaceModel::CanonicalLinkName

(

)

const

Get the canonical link name.

Remarks

Unlike Model::CanonicalLinkName which simply returns the value of //model/@canonical_link without resolving to an actual link, this function returns the resolved canonical link name.

Returns

Canonical link name of the model.

Frames()

const std::vector< sdf::InterfaceFrame > & sdf::SDF_VERSION_NAMESPACE::InterfaceModel::Frames

(

)

const

Gets registered frames.

Joints()

const std::vector< sdf::InterfaceJoint > & sdf::SDF_VERSION_NAMESPACE::InterfaceModel::Joints

(

)

const

Gets registered joints.

Links()

const std::vector< sdf::InterfaceLink > & sdf::SDF_VERSION_NAMESPACE::InterfaceModel::Links

(

)

const

Gets registered links.

ModelFramePoseInParentFrame()

const gz::math::Pose3d & sdf::SDF_VERSION_NAMESPACE::InterfaceModel::ModelFramePoseInParentFrame

(

)

const

Get the pose of this model in the parent frame.

Returns

Pose of this model in the parent model frame.

Name()

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

(

)

const

Get the name of the model.

Returns

Local name of the model.

NestedModels()

const std::vector< sdf::InterfaceModelConstPtr > & sdf::SDF_VERSION_NAMESPACE::InterfaceModel::NestedModels

(

)

const

Gets registered nested models.

ParserSupportsMergeInclude()

bool sdf::SDF_VERSION_NAMESPACE::InterfaceModel::ParserSupportsMergeInclude

(

)

const

Whether the custom parser supports merge-include.

Returns

True if the custom parser supports merge-include

SetParserSupportsMergeInclude()

void sdf::SDF_VERSION_NAMESPACE::InterfaceModel::SetParserSupportsMergeInclude

(

bool

_val

)

Set whether the custom parser supports merge-include.

[in] _val True if the custom parser supports merge-include.

Static()

bool sdf::SDF_VERSION_NAMESPACE::InterfaceModel::Static

(

)

const

Get whether the model is static.

Returns

Whether the model is static.

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

• InterfaceModel.hh