Go to the documentation of this file.
17 #ifndef SDF_COLLISION_HH_
18 #define SDF_COLLISION_HH_
22 #include <gz/math/Pose3.hh>
26 #include "sdf/sdf_config.h"
32 inline namespace SDF_VERSION_NAMESPACE {
35 class CollisionPrivate;
38 struct PoseRelativeToGraph;
81 public: std::string Name()
const;
86 public:
void SetName(
const std::string &_name)
const;
90 public:
const Geometry *Geom()
const;
94 public:
void SetGeom(
const Geometry &_geom);
109 public:
const gz::math::Pose3d &Pose()
const
116 public:
void SetPose(
const gz::math::Pose3d &_pose)
123 public:
const gz::math::Pose3d &RawPose()
const;
128 public:
void SetRawPose(
const gz::math::Pose3d &_pose);
134 public:
const std::string &PoseRelativeTo()
const;
140 public:
void SetPoseRelativeTo(
const std::string &_frame);
147 public:
const std::string &PoseFrame()
const
155 public:
void SetPoseFrame(
const std::string &_frame)
173 private:
void SetXmlParentName(
const std::string &_xmlParentName);
179 private:
void SetPoseRelativeToGraph(
180 std::weak_ptr<const PoseRelativeToGraph> _graph);
188 private: CollisionPrivate *dataPtr =
nullptr;
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:79
namespace for Simulation Description Format parser
Definition: Actor.hh:32
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
A collision element descibes the collision properties associated with a link.
Definition: Collision.hh:44
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:53
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
Surface information for a collision.
Definition: Surface.hh:87
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49