SemanticPose.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.
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17 #ifndef SDF_SEMANTIC_POSE_HH_
18 #define SDF_SEMANTIC_POSE_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <gz/math/Pose3.hh>
23 
24 #include <sdf/Error.hh>
25 #include <sdf/Element.hh>
26 #include <sdf/sdf_config.h>
27 #include "sdf/system_util.hh"
28 
29 #ifdef _WIN32
30 // Disable warning C4251 which is triggered by
31 // std::unique_ptr
32 #pragma warning(push)
33 #pragma warning(disable: 4251)
34 #endif
35 
36 namespace sdf
37 {
38  // Inline bracket to help doxygen filtering.
39  inline namespace SDF_VERSION_NAMESPACE {
40  //
41 
42  // Forward declare private data class.
43  class SemanticPosePrivate;
44  struct PoseRelativeToGraph;
45 
54  {
57  public: const gz::math::Pose3d &RawPose() const;
58 
63  public: const std::string &RelativeTo() const;
64 
72  public: Errors Resolve(gz::math::Pose3d &_pose,
73  const std::string &_resolveTo = "") const;
74 
82  private: SemanticPose(
83  const gz::math::Pose3d &_pose,
84  const std::string &_relativeTo,
85  const std::string &_defaultResolveTo,
86  std::weak_ptr<const sdf::PoseRelativeToGraph> _graph);
87 
89  public: ~SemanticPose();
90 
93  public: SemanticPose(const SemanticPose &_semanticPose);
94 
97  public: SemanticPose(SemanticPose &&_semanticPose) noexcept;
98 
102  public: SemanticPose &operator=(SemanticPose &&_semanticPose);
103 
107  public: SemanticPose &operator=(const SemanticPose &_semanticPose);
108 
109  friend class Collision;
110  friend class Frame;
111  friend class Joint;
112  friend class Light;
113  friend class Link;
114  friend class Model;
115  friend class Sensor;
116  friend class Visual;
117 
119  private: std::unique_ptr<SemanticPosePrivate> dataPtr;
120  };
121  }
122 }
123 
124 #ifdef _WIN32
125 #pragma warning(pop)
126 #endif
127 
128 #endif
Error.hh
sdf::v9::Visual
Definition: Visual.hh:45
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:32
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::Joint
Definition: Joint.hh:83
sdf::v9::Collision
A collision element descibes the collision properties associated with a link.
Definition: Collision.hh:44
sdf::v9::Light
Provides a description of a light source.
Definition: Light.hh:62
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::Model
Definition: Model.hh:43
system_util.hh
sdf::SDF_VERSION_NAMESPACE::Sensor
Information about an SDF sensor.
Definition: Sensor.hh:121
Element.hh