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Link.hh
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1/*
2 * Copyright 2018 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_LINK_HH_
18#define SDF_LINK_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
36 // Forward declarations.
37 class Collision;
38 class Light;
39 class ParticleEmitter;
40 class Sensor;
41 class Visual;
42 struct PoseRelativeToGraph;
43 template <typename T> class ScopedGraph;
44
46 {
48 public: Link();
49
56 public: Errors Load(ElementPtr _sdf);
57
61 public: std::string Name() const;
62
66 public: void SetName(const std::string &_name);
67
70 public: uint64_t VisualCount() const;
71
77 public: const Visual *VisualByIndex(const uint64_t _index) const;
78
82 public: bool VisualNameExists(const std::string &_name) const;
83
87 public: const Visual *VisualByName(const std::string &_name) const;
88
91 public: uint64_t CollisionCount() const;
92
98 public: const Collision *CollisionByIndex(const uint64_t _index) const;
99
103 public: bool CollisionNameExists(const std::string &_name) const;
104
108 public: const Collision *CollisionByName(const std::string &_name) const;
109
112 public: uint64_t LightCount() const;
113
119 public: const Light *LightByIndex(const uint64_t _index) const;
120
124 public: bool LightNameExists(const std::string &_name) const;
125
129 public: const Light *LightByName(const std::string &_name) const;
130
133 public: uint64_t SensorCount() const;
134
140 public: const Sensor *SensorByIndex(const uint64_t _index) const;
141
145 public: bool SensorNameExists(const std::string &_name) const;
146
152 public: const Sensor *SensorByName(const std::string &_name) const;
153
156 public: uint64_t ParticleEmitterCount() const;
157
165 const uint64_t _index) const;
166
170 public: bool ParticleEmitterNameExists(const std::string &_name) const;
171
178 const std::string &_name) const;
179
193 public: const ignition::math::Inertiald &Inertial() const;
194
199 public: bool SetInertial(const ignition::math::Inertiald &_inertial);
200
204 public: const ignition::math::Pose3d &RawPose() const;
205
209 public: void SetRawPose(const ignition::math::Pose3d &_pose);
210
215 public: const std::string &PoseRelativeTo() const;
216
221 public: void SetPoseRelativeTo(const std::string &_frame);
222
227 public: sdf::ElementPtr Element() const;
228
233
237 private: void SetPoseRelativeToGraph(
239
241 friend class Model;
242
247 public: bool EnableWind() const;
248
253 public: void SetEnableWind(bool _enableWind);
254
259 public: bool AddCollision(const Collision &_collision);
260
265 public: bool AddVisual(const Visual &_visual);
266
271 public: bool AddLight(const Light &_light);
272
277 public: bool AddSensor(const Sensor &_sensor);
278
280 public: void ClearCollisions();
281
283 public: void ClearVisuals();
284
286 public: void ClearLights();
287
289 public: void ClearSensors();
290
292 IGN_UTILS_IMPL_PTR(dataPtr)
293 };
294 }
295}
296#endif
A collision element descibes the collision properties associated with a link.
Definition Collision.hh:46
Provides a description of a light source.
Definition Light.hh:64
Definition Model.hh:49
A description of a particle emitter, which can be attached to a link.
Definition ParticleEmitter.hh:61
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
Information about an SDF sensor.
Definition Sensor.hh:136
Definition Visual.hh:47
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