gz/sim/Actor.hh

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/*
 * Copyright (C) 2023 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_ACTOR_HH_
#define GZ_GAZEBO_ACTOR_HH_
 
#include <memory>
#include <optional>
#include <string>
 
#include <gz/math/Pose3.hh>
 
#include <gz/utils/ImplPtr.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 {
    //
    class IGNITION_GAZEBO_VISIBLE Actor
    {
      public: explicit Actor(gazebo::Entity _entity = kNullEntity);
 
      public: gazebo::Entity Entity() const;
 
      public: void ResetEntity(gazebo::Entity _newEntity);
 
      public: bool Valid(const EntityComponentManager &_ecm) const;
 
      public: std::optional<std::string> Name(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Pose3d> Pose(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Pose3d> TrajectoryPose(
          const EntityComponentManager &_ecm) const;
 
      public: void SetTrajectoryPose(EntityComponentManager &_ecm,
          const math::Pose3d &_pose);
 
      public: std::optional<math::Pose3d> WorldPose(
          const EntityComponentManager &_ecm) const;
 
      public: void SetAnimationName(EntityComponentManager &_ecm,
          const std::string &_name);
 
      public: void SetAnimationTime(EntityComponentManager &_ecm,
          const std::chrono::steady_clock::duration &_time);
 
      public: std::optional<std::string> AnimationName(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<std::chrono::steady_clock::duration> AnimationTime(
          const EntityComponentManager &_ecm) const;
 
      IGN_UTILS_IMPL_PTR(dataPtr)
    };
    }
  }
}
#endif