Link.hh

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/*
 * Copyright (C) 2019 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 GZ_SIM_LINK_HH_
#define GZ_SIM_LINK_HH_
 
#include <memory>
#include <optional>
#include <string>
#include <vector>
 
#include <gz/math/Inertial.hh>
#include <gz/math/Matrix3.hh>
#include <gz/math/Matrix6.hh>
#include <gz/math/Pose3.hh>
#include <gz/math/Quaternion.hh>
#include <gz/math/Vector3.hh>
#include <gz/math/AxisAlignedBox.hh>
 
#include <gz/sim/config.hh>
#include <gz/sim/EntityComponentManager.hh>
#include <gz/sim/Export.hh>
#include <gz/sim/Model.hh>
#include <gz/sim/Types.hh>
 
namespace gz
{
  namespace sim
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SIM_VERSION_NAMESPACE {
    // Forward declarations.
    class GZ_SIM_HIDDEN LinkPrivate;
    //
    class GZ_SIM_VISIBLE Link
    {
      public: explicit Link(sim::Entity _entity = kNullEntity);
 
      public: Link(const Link &_link);
 
      public: Link(Link &&_link) noexcept;
 
      public: Link &operator=(Link &&_link) noexcept;
 
      public: Link &operator=(const Link &_link);
 
      public: ~Link();
 
      public: sim::Entity Entity() const;
 
      public: void ResetEntity(sim::Entity _newEntity);
 
      public: bool Valid(const EntityComponentManager &_ecm) const;
 
      public: std::optional<std::string> Name(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<Model> ParentModel(
          const EntityComponentManager &_ecm) const;
 
      public: bool IsCanonical(const EntityComponentManager &_ecm) const;
 
      public: bool WindMode(const EntityComponentManager &_ecm) const;
 
      public: std::optional<bool> GravityEnabled(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<bool> Kinematic(
          const EntityComponentManager &_ecm) const;
 
      public: sim::Entity CollisionByName(const EntityComponentManager &_ecm,
          const std::string &_name) const;
 
      public: sim::Entity SensorByName(const EntityComponentManager &_ecm,
          const std::string &_name) const;
 
      public: sim::Entity VisualByName(const EntityComponentManager &_ecm,
          const std::string &_name) const;
 
      public: std::vector<sim::Entity> Collisions(
          const EntityComponentManager &_ecm) const;
 
      public: std::vector<sim::Entity> Sensors(
          const EntityComponentManager &_ecm) const;
 
      public: std::vector<sim::Entity> Visuals(
          const EntityComponentManager &_ecm) const;
 
      public: uint64_t CollisionCount(const EntityComponentManager &_ecm) const;
 
      public: uint64_t SensorCount(const EntityComponentManager &_ecm) const;
 
      public: uint64_t VisualCount(const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Pose3d> WorldPose(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Inertiald> WorldInertial(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Pose3d> WorldInertialPose(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Vector3d> WorldLinearVelocity(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Vector3d> WorldLinearVelocity(
          const EntityComponentManager &_ecm,
          const math::Vector3d &_offset) const;
 
      public: std::optional<math::Vector3d> WorldAngularVelocity(
          const EntityComponentManager &_ecm) const;
 
      public: void EnableVelocityChecks(EntityComponentManager &_ecm,
          bool _enable = true) const;
 
      public: void SetLinearVelocity(EntityComponentManager &_ecm,
          const math::Vector3d &_vel) const;
 
 
      public: void SetAngularVelocity(EntityComponentManager &_ecm,
          const math::Vector3d &_vel) const;
 
      public: void SetGravityEnabled(EntityComponentManager &_ecm,
          bool _enabled) const;
 
      public: void SetKinematic(EntityComponentManager &_ecm,
          bool _kinematic) const;
 
      public: std::optional<math::Vector3d> WorldAngularAcceleration(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Vector3d> WorldLinearAcceleration(
          const EntityComponentManager &_ecm) const;
 
      public: void EnableAccelerationChecks(EntityComponentManager &_ecm,
          bool _enable = true) const;
 
      public: std::optional<math::Matrix3d> WorldInertiaMatrix(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Matrix6d> WorldFluidAddedMassMatrix(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<double> WorldKineticEnergy(
          const EntityComponentManager &_ecm) const;
 
      public: void AddWorldForce(EntityComponentManager &_ecm,
                                 const math::Vector3d &_force) const;
 
      public: void AddWorldForce(EntityComponentManager &_ecm,
                                 const math::Vector3d &_force,
                                 const math::Vector3d &_position) const;
 
      public: void AddForceInInertialFrame(EntityComponentManager &_ecm,
                                 const math::Vector3d &_force) const;
 
      public: void AddForceInInertialFrame(EntityComponentManager &_ecm,
                                 const math::Vector3d &_force,
                                 const math::Vector3d &_position) const;
 
      public: void AddWorldWrench(EntityComponentManager &_ecm,
                                 const math::Vector3d &_force,
                                 const math::Vector3d &_torque) const;
 
      public: void AddWorldWrench(EntityComponentManager &_ecm,
                                  const math::Vector3d &_force,
                                  const math::Vector3d &_torque,
                                  const math::Vector3d &_offset) const;
 
      public: void EnableBoundingBoxChecks(
          EntityComponentManager &_ecm,
          bool _enable = true) const;
 
      public: std::optional<math::AxisAlignedBox> AxisAlignedBox(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::AxisAlignedBox> WorldAxisAlignedBox(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::AxisAlignedBox> ComputeAxisAlignedBox(
        const EntityComponentManager &_ecm) const;
 
      private: std::unique_ptr<LinkPrivate> dataPtr;
    };
    }
  }
}
#endif