Model.hh

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/*
 * Copyright 2018 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef SDF_MODEL_HH_
#define SDF_MODEL_HH_
 
#include <memory>
#include <string>
#include <utility>
#include <gz/math/Pose3.hh>
#include "sdf/Element.hh"
#include "sdf/SemanticPose.hh"
#include "sdf/Types.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
 
  // Forward declarations.
  class Frame;
  class Joint;
  class Link;
  class ModelPrivate;
  struct PoseRelativeToGraph;
 
  class SDFORMAT_VISIBLE Model
  {
    public: Model();
 
    public: Model(const Model &_model);
 
    public: Model(Model &&_model) noexcept;
 
    public: Model &operator=(Model &&_model);
 
    public: Model &operator=(const Model &_model);
 
    public: ~Model();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: Errors ValidateGraphs() const;
 
    public: std::string Name() const;
 
    public: void SetName(const std::string &_name);
 
    public: bool Static() const;
 
    public: void SetStatic(bool _static);
 
    public: bool SelfCollide() const;
 
    public: void SetSelfCollide(bool _selfCollide);
 
    public: bool AllowAutoDisable() const;
 
    public: void SetAllowAutoDisable(bool _allowAutoDisable);
 
    public: bool EnableWind() const;
 
    public: void SetEnableWind(bool _enableWind);
 
    public: uint64_t LinkCount() const;
 
    public: const Link *LinkByIndex(const uint64_t _index) const;
 
    public: const Link *LinkByName(const std::string &_name) const;
 
    public: bool LinkNameExists(const std::string &_name) const;
 
    public: uint64_t JointCount() const;
 
    public: const Joint *JointByIndex(const uint64_t _index) const;
 
    public: bool JointNameExists(const std::string &_name) const;
 
    public: const Joint *JointByName(const std::string &_name) const;
 
    public: uint64_t FrameCount() const;
 
    public: const Frame *FrameByIndex(const uint64_t _index) const;
 
    public: const Frame *FrameByName(const std::string &_name) const;
 
    public: bool FrameNameExists(const std::string &_name) const;
 
    public: uint64_t ModelCount() const;
 
    public: const Model *ModelByIndex(const uint64_t _index) const;
 
    public: bool ModelNameExists(const std::string &_name) const;
 
    public: const Model *ModelByName(const std::string &_name) const;
 
    public: const gz::math::Pose3d &Pose() const
        SDF_DEPRECATED(9.0);
 
    public: void SetPose(const gz::math::Pose3d &_pose)
        SDF_DEPRECATED(9.0);
 
    public: const gz::math::Pose3d &RawPose() const;
 
    public: void SetRawPose(const gz::math::Pose3d &_pose);
 
    public: const Link *CanonicalLink() const;
 
    public: const std::string &CanonicalLinkName() const;
 
    public: void SetCanonicalLinkName(const std::string &_canonicalLink);
 
    public: const std::string &PoseRelativeTo() const;
 
    public: void SetPoseRelativeTo(const std::string &_frame);
 
    public: const std::string &PoseFrame() const
        SDF_DEPRECATED(9.0);
 
    public: void SetPoseFrame(const std::string &_frame)
        SDF_DEPRECATED(9.0);
 
    public: sdf::ElementPtr Element() const;
 
    public: sdf::SemanticPose SemanticPose() const;
 
    private: sdf::Errors SetPoseRelativeToGraph(
        std::weak_ptr<const PoseRelativeToGraph> _graph);
 
    private: std::pair<const Link *, std::string> CanonicalLinkAndRelativeName()
        const;
 
    friend class World;
 
    friend std::pair<const Link *, std::string>
        modelCanonicalLinkAndRelativeName(const Model *);
 
    private: ModelPrivate *dataPtr = nullptr;
  };
  }
}
#endif