Collision.hh
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2  * Copyright 2018 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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13  * See the License for the specific language governing permissions and
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17 #ifndef SDF_COLLISION_HH_
18 #define SDF_COLLISION_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <gz/math/Pose3.hh>
23 #include "sdf/Element.hh"
24 #include "sdf/SemanticPose.hh"
25 #include "sdf/Types.hh"
26 #include "sdf/sdf_config.h"
27 #include "sdf/system_util.hh"
28 
29 namespace sdf
30 {
31  // Inline bracket to help doxygen filtering.
32  inline namespace SDF_VERSION_NAMESPACE {
33  //
34  // Forward declaration.
35  class CollisionPrivate;
36  class Geometry;
37  class Surface;
38  struct PoseRelativeToGraph;
39 
45  {
47  public: Collision();
48 
51  public: Collision(const Collision &_collision);
52 
55  public: Collision(Collision &&_collision) noexcept;
56 
60  public: Collision &operator=(Collision &&_collision);
61 
65  public: Collision &operator=(const Collision &_collision);
66 
68  public: ~Collision();
69 
76  public: Errors Load(ElementPtr _sdf);
77 
81  public: std::string Name() const;
82 
86  public: void SetName(const std::string &_name) const;
87 
90  public: const Geometry *Geom() const;
91 
94  public: void SetGeom(const Geometry &_geom);
95 
98  public: sdf::Surface *Surface() const;
99 
102  public: void SetSurface(const sdf::Surface &_surface);
103 
109  public: const gz::math::Pose3d &Pose() const
110  SDF_DEPRECATED(9.0);
111 
116  public: void SetPose(const gz::math::Pose3d &_pose)
117  SDF_DEPRECATED(9.0);
118 
123  public: const gz::math::Pose3d &RawPose() const;
124 
128  public: void SetRawPose(const gz::math::Pose3d &_pose);
129 
134  public: const std::string &PoseRelativeTo() const;
135 
140  public: void SetPoseRelativeTo(const std::string &_frame);
141 
147  public: const std::string &PoseFrame() const
148  SDF_DEPRECATED(9.0);
149 
155  public: void SetPoseFrame(const std::string &_frame)
156  SDF_DEPRECATED(9.0);
157 
161  public: sdf::SemanticPose SemanticPose() const;
162 
167  public: sdf::ElementPtr Element() const;
168 
173  private: void SetXmlParentName(const std::string &_xmlParentName);
174 
179  private: void SetPoseRelativeToGraph(
180  std::weak_ptr<const PoseRelativeToGraph> _graph);
181 
185  friend class Link;
186 
188  private: CollisionPrivate *dataPtr = nullptr;
189  };
190  }
191 }
192 #endif
sdf::v9::Geometry
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:79
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:32
Types.hh
SemanticPose.hh
sdf::v9::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
sdf::v9::SDF_DEPRECATED
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
sdf::v9::Collision
A collision element descibes the collision properties associated with a link.
Definition: Collision.hh:44
sdf::v9::SemanticPose
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:53
sdf::v9::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
sdf::v9::Surface
Surface information for a collision.
Definition: Surface.hh:87
system_util.hh
sdf::v9::Element
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
Element.hh