gz/sim/Model.hh

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/*
 * Copyright (C) 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 GZ_GAZEBO_MODEL_HH_
#define GZ_GAZEBO_MODEL_HH_
 
#include <memory>
#include <string>
#include <vector>
 
#include <gz/math/Pose3.hh>
 
#include <gz/sim/config.hh>
#include <gz/sim/EntityComponentManager.hh>
#include <gz/sim/Export.hh>
#include <gz/sim/Types.hh>
 
namespace ignition
{
  namespace gazebo
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
    // Forward declarations.
    class IGNITION_GAZEBO_HIDDEN ModelPrivate;
    //
    class IGNITION_GAZEBO_VISIBLE Model {
      public: explicit Model(gz::sim::Entity _entity = kNullEntity);
 
      public: Model(const Model &_model);
 
      public: Model(Model &&_model) noexcept;
 
      public: Model &operator=(Model &&_model) noexcept;
 
      public: Model &operator=(const Model &_model);
 
      public: virtual ~Model();
 
      public: gz::sim::Entity Entity() const;
 
      public: bool Valid(const EntityComponentManager &_ecm) const;
 
      public: std::string Name(const EntityComponentManager &_ecm) const;
 
      public: bool Static(const EntityComponentManager &_ecm) const;
 
      public: bool SelfCollide(const EntityComponentManager &_ecm) const;
 
      public: bool WindMode(const EntityComponentManager &_ecm) const;
 
      public: std::string SourceFilePath(const EntityComponentManager &_ecm)
          const;
 
      public: gz::sim::Entity JointByName(const EntityComponentManager &_ecm,
          const std::string &_name);
 
      public: gz::sim::Entity LinkByName(const EntityComponentManager &_ecm,
          const std::string &_name);
 
      public: std::vector<gz::sim::Entity> Joints(
          const EntityComponentManager &_ecm) const;
 
      public: std::vector<gz::sim::Entity> Links(
          const EntityComponentManager &_ecm) const;
 
      public: uint64_t JointCount(const EntityComponentManager &_ecm) const;
 
      public: uint64_t LinkCount(const EntityComponentManager &_ecm) const;
 
      public: void SetWorldPoseCmd(EntityComponentManager &_ecm,
          const math::Pose3d &_pose);
 
      public: gz::sim::Entity CanonicalLink(
          const EntityComponentManager &_ecm) const;
 
      private: std::unique_ptr<ModelPrivate> dataPtr;
    };
    }
  }
}
#endif