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Frame.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.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16 */
17#ifndef SDF_FRAME_HH_
18#define SDF_FRAME_HH_
19
20#include <memory>
21#include <string>
22#include <ignition/math/Pose3.hh>
23#include <ignition/utils/ImplPtr.hh>
24#include "sdf/Element.hh"
25#include "sdf/SemanticPose.hh"
26#include "sdf/Types.hh"
27#include "sdf/sdf_config.h"
28#include "sdf/system_util.hh"
29
30namespace sdf
31{
32 // Inline bracket to help doxygen filtering.
33 inline namespace SDF_VERSION_NAMESPACE {
34 //
35 // Forward declaration.
36 struct FrameAttachedToGraph;
37 struct PoseRelativeToGraph;
38 template <typename T> class ScopedGraph;
39
43 {
45 public: Frame();
46
53 public: Errors Load(ElementPtr _sdf);
54
58 public: const std::string &Name() const;
59
63 public: void SetName(const std::string &_name);
64
73 public: const std::string &AttachedTo() const;
74
83 public: void SetAttachedTo(const std::string &_frame);
84
90 public: const ignition::math::Pose3d &RawPose() const;
91
96 public: void SetRawPose(const ignition::math::Pose3d &_pose);
97
102 public: const std::string &PoseRelativeTo() const;
103
108 public: void SetPoseRelativeTo(const std::string &_frame);
109
113 public: sdf::ElementPtr Element() const;
114
120 public: Errors ResolveAttachedToBody(std::string &_body) const;
121
126
131 private: void SetFrameAttachedToGraph(
133
138 private: void SetPoseRelativeToGraph(
140
142 friend class Model;
143 friend class World;
144
146 IGN_UTILS_IMPL_PTR(dataPtr)
147 };
148 }
149}
150#endif
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition Frame.hh:43
const std::string & Name() const
Get the name of the frame.
void SetAttachedTo(const std::string &_frame)
Set the name of the coordinate frame to which this frame is attached.
void SetRawPose(const ignition::math::Pose3d &_pose)
Set the raw pose of the frame object.
const std::string & PoseRelativeTo() const
Get the name of the coordinate frame relative to which this frame's pose is expressed.
const std::string & AttachedTo() const
Get the name of the coordinate frame to which this frame is attached.
const ignition::math::Pose3d & RawPose() const
Get the pose of the frame object.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
void SetPoseRelativeTo(const std::string &_frame)
Set the name of the coordinate frame relative to which this frame's pose is expressed.
Frame()
Default constructor.
void SetName(const std::string &_name)
Set the name of the frame.
Errors Load(ElementPtr _sdf)
Load the frame based on a element pointer.
sdf::SemanticPose SemanticPose() const
Get SemanticPose object of this object to aid in resolving poses.
Errors ResolveAttachedToBody(std::string &_body) const
Resolve the attached-to body of this frame from the FrameAttachedToGraph.
Definition Model.hh:49
Definition Collision.hh:39
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition SemanticPose.hh:55
Definition World.hh:55
std::vector< Error > Errors
A vector of Error.
Definition Types.hh:106
std::shared_ptr< Element > ElementPtr
Definition Element.hh:54
namespace for Simulation Description Format parser
Definition Actor.hh:34
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition system_util.hh:41