17 #ifndef GZ_SIM_LINK_HH_
18 #define GZ_SIM_LINK_HH_
25 #include <gz/math/Matrix3.hh>
26 #include <gz/math/Pose3.hh>
27 #include <gz/math/Quaternion.hh>
28 #include <gz/math/Vector3.hh>
30 #include <gz/sim/config.hh>
32 #include <gz/sim/Export.hh>
41 inline namespace GZ_SIM_VERSION_NAMESPACE {
81 public:
Link &operator=(
Link &&_link) noexcept;
86 public:
Link &operator=(
const Link &_link);
109 public: std::optional<std::string>
Name(
116 public: std::optional<Model> ParentModel(
173 public: std::optional<math::Pose3d> WorldPose(
181 public: std::optional<math::Pose3d> WorldInertialPose(
192 public: std::optional<math::Vector3d> WorldLinearVelocity(
203 public: std::optional<math::Vector3d> WorldLinearVelocity(
212 public: std::optional<math::Vector3d> WorldAngularVelocity(
222 bool _enable =
true)
const;
244 public: std::optional<math::Vector3d> WorldAngularAcceleration(
252 public: std::optional<math::Vector3d> WorldLinearAcceleration(
262 bool _enable =
true)
const;
269 public: std::optional<math::Matrix3d> WorldInertiaMatrix(
279 public: std::optional<double> WorldKineticEnergy(