Frame.hh
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1 /*
2  * Copyright 2019 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16  */
17 #ifndef SDF_FRAME_HH_
18 #define SDF_FRAME_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 FramePrivate;
36  struct FrameAttachedToGraph;
37  struct PoseRelativeToGraph;
38 
42  {
44  public: Frame();
45 
48  public: Frame(const Frame &_frame);
49 
52  public: Frame(Frame &&_frame);
53 
55  public: ~Frame();
56 
60  public: Frame &operator=(Frame &&_frame);
61 
65  public: Frame &operator=(const Frame &_frame);
66 
73  public: Errors Load(ElementPtr _sdf);
74 
78  public: const std::string &Name() const;
79 
83  public: void SetName(const std::string &_name) const;
84 
93  public: const std::string &AttachedTo() const;
94 
103  public: void SetAttachedTo(const std::string &_frame);
104 
110  public: const gz::math::Pose3d &RawPose() const;
111 
116  public: void SetRawPose(const gz::math::Pose3d &_pose);
117 
122  public: const std::string &PoseRelativeTo() const;
123 
128  public: void SetPoseRelativeTo(const std::string &_frame);
129 
133  public: sdf::ElementPtr Element() const;
134 
141  public: Errors ResolveAttachedToBody(std::string &_body) const;
142 
146  public: sdf::SemanticPose SemanticPose() const;
147 
152  private: void SetFrameAttachedToGraph(
153  std::weak_ptr<const FrameAttachedToGraph> _graph);
154 
159  private: void SetPoseRelativeToGraph(
160  std::weak_ptr<const PoseRelativeToGraph> _graph);
161 
163  friend class Model;
164  friend class World;
165 
167  private: FramePrivate *dataPtr = nullptr;
168  };
169  }
170 }
171 #endif
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::World
Definition: World.hh:45
sdf::v9::Frame
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition: Frame.hh:41
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::Model
Definition: Model.hh:43
system_util.hh
sdf::v9::Element
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
Element.hh