Go to the documentation of this file.
22 #include <gz/math/Pose3.hh>
26 #include "sdf/sdf_config.h"
32 inline namespace SDF_VERSION_NAMESPACE {
38 struct PoseRelativeToGraph;
104 public:
Joint &operator=(
const Joint &_joint);
120 public:
const std::string &Name()
const;
125 public:
void SetName(
const std::string &_name);
133 public:
void SetType(
const JointType _jointType);
137 public:
const std::string &ParentLinkName()
const;
141 public:
void SetParentLinkName(
const std::string &_name);
145 public:
const std::string &ChildLinkName()
const;
149 public:
void SetChildLinkName(
const std::string &_name);
159 public:
const JointAxis *Axis(
const unsigned int _index = 0)
const;
167 public:
void SetAxis(
const unsigned int _index,
const JointAxis &_axis);
175 public:
const gz::math::Pose3d &Pose()
const
182 public:
void SetPose(
const gz::math::Pose3d &_pose)
190 public:
const gz::math::Pose3d &RawPose()
const;
195 public:
void SetRawPose(
const gz::math::Pose3d &_pose);
201 public:
const std::string &PoseRelativeTo()
const;
207 public:
void SetPoseRelativeTo(
const std::string &_frame);
214 public:
const std::string &PoseFrame()
const
222 public:
void SetPoseFrame(
const std::string &_frame)
227 public:
double ThreadPitch()
const;
231 public:
void SetThreadPitch(
double _threadPitch);
246 public: uint64_t SensorCount()
const;
253 public:
const Sensor *SensorByIndex(
const uint64_t _index)
const;
258 public:
bool SensorNameExists(
const std::string &_name)
const;
265 public:
const Sensor *SensorByName(
const std::string &_name)
const;
271 private:
void SetPoseRelativeToGraph(
272 std::weak_ptr<const PoseRelativeToGraph> _graph);
278 private: JointPrivate *dataPtr =
nullptr;
JointType
Definition: Joint.hh:44
Parameters related to the axis of rotation for rotational joints, and the axis of translation for pri...
Definition: JointAxis.hh:40
@ GEARBOX
Geared revolute joint.
@ REVOLUTE2
Same as two revolute joints connected in series.
namespace for Simulation Description Format parser
Definition: Actor.hh:32
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
@ CONTINUOUS
A hinge joint that rotates on a single axis with a continuous range of motion.
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
@ SCREW
A single degree of freedom joint with coupled sliding and rotational motion.
@ BALL
A ball and socket joint.
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:53
@ REVOLUTE
A hinge joint that rotates on a single axis with a fixed range of motion.
@ UNIVERSAL
Similar to a ball joint, but constrains one degree of freedom.
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
@ FIXED
A joint with zero degrees of freedom that rigidly connects two links.
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
Information about an SDF sensor.
Definition: Sensor.hh:121
@ PRISMATIC
A sliding joint that slides along an axis with a limited range specified by upper and lower limits.