22 #include <gz/math/Pose3.hh>
26 #include "sdf/sdf_config.h"
32 inline namespace SDF_VERSION_NAMESPACE {
36 struct FrameAttachedToGraph;
37 struct PoseRelativeToGraph;
78 public:
const std::string &Name()
const;
83 public:
void SetName(
const std::string &_name)
const;
93 public:
const std::string &AttachedTo()
const;
103 public:
void SetAttachedTo(
const std::string &_frame);
110 public:
const gz::math::Pose3d &RawPose()
const;
116 public:
void SetRawPose(
const gz::math::Pose3d &_pose);
122 public:
const std::string &PoseRelativeTo()
const;
128 public:
void SetPoseRelativeTo(
const std::string &_frame);
141 public:
Errors ResolveAttachedToBody(std::string &_body)
const;
152 private:
void SetFrameAttachedToGraph(
153 std::weak_ptr<const FrameAttachedToGraph> _graph);
159 private:
void SetPoseRelativeToGraph(
160 std::weak_ptr<const PoseRelativeToGraph> _graph);
167 private: FramePrivate *dataPtr =
nullptr;