23#include <ignition/math/Pose3.hh>
24#include <ignition/utils/ImplPtr.hh>
30#include "sdf/sdf_config.h"
36 inline namespace SDF_VERSION_NAMESPACE {
54 public:
const std::string &
Name()
const;
58 public:
void SetName(
const std::string &_name);
93 IGN_UTILS_IMPL_PTR(dataPtr)
120 public: ignition::math::Pose3d
Pose()
const;
124 public:
void SetPose(
const ignition::math::Pose3d &_pose);
127 IGN_UTILS_IMPL_PTR(dataPtr)
146 public: uint64_t
Id()
const;
154 public:
const std::string &
Type()
const;
159 public:
void SetType(
const std::string &_type);
185 IGN_UTILS_IMPL_PTR(dataPtr)
205 public:
const std::string &
Name()
const;
209 public:
void SetName(
const std::string &_name);
216 public:
const ignition::math::Pose3d &
RawPose()
const;
221 public:
void SetRawPose(
const ignition::math::Pose3d &_pose);
364 IGN_UTILS_IMPL_PTR(dataPtr)
Provides a description of an actor.
Definition Actor.hh:191
void SetName(const std::string &_name)
Set the name of the actor.
const Animation * AnimationByIndex(uint64_t _index) const
Get an animation based on an index.
const ignition::math::Pose3d & RawPose() const
Get the pose of the actor.
bool ScriptLoop() const
Get whether the animation plays in loop.
double ScriptDelayStart() const
Get the time (in seconds) of delay to start.
void AddAnimation(const Animation &_anim)
Add a new animation.
uint64_t TrajectoryCount() const
Get the number of trajectories.
bool LinkNameExists(const std::string &_name) const
Get whether a link name exists.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
void SetSkinFilename(std::string _skinFilename)
Set the skin filename.
Actor()
Default constructor.
Errors Load(ElementPtr _sdf)
Load the actor based on a element pointer.
const std::string & Name() const
Get the name of the actor.
void SetFilePath(const std::string &_filePath)
Set the path to the file where this element was loaded from.
void SetSkinScale(double _skinScale)
Set the skin scale.
bool AnimationNameExists(const std::string &_name) const
Get whether an animation name exists.
const std::string & FilePath() const
The path to the file where this element was loaded from.
bool ScriptAutoStart() const
Get whether the animation plays when simulation starts.
const std::string & PoseRelativeTo() const
Get the name of the coordinate frame relative to which this object's pose is expressed.
void AddTrajectory(const Trajectory &_traj)
Add a new trajectory.
void SetScriptAutoStart(bool _scriptAutoStart)
Set whether the animation plays when simulation starts.
const Trajectory * TrajectoryByIndex(uint64_t _index) const
Get a trajectory based on an index.
uint64_t JointCount() const
Get the number of joints.
void SetScriptLoop(bool _scriptLoop)
Set whether the animation plays in loop.
bool TrajectoryIdExists(uint64_t _id) const
Get whether a trajectory id exists.
bool JointNameExists(const std::string &_name) const
Get whether a joint name exists.
const Link * LinkByIndex(uint64_t _index) const
Get a link based on an index.
void SetScriptDelayStart(double _scriptDelayStart)
Set the delay time to start.
uint64_t AnimationCount() const
Get the number of animations.
void SetPoseRelativeTo(const std::string &_frame)
Set the name of the coordinate frame relative to which this object's pose is expressed.
uint64_t LinkCount() const
Get the number of links.
void SetRawPose(const ignition::math::Pose3d &_pose)
Set the pose of the actor.
const std::string & SkinFilename() const
Get the skin filename.
double SkinScale() const
Get the skin scale.
const Joint * JointByIndex(uint64_t _index) const
Get a joint based on an index.
Animation in Actor.
Definition Actor.hh:40
void SetFilePath(const std::string &_filePath)
Set the path to the file where this element was loaded from.
double Scale() const
Get the scale for the animation skeleton.
Animation()
Default constructor.
void SetInterpolateX(bool _interpolateX)
Set whether the animation is interpolated on X.
Errors Load(ElementPtr _sdf)
Load the animation based on a element pointer.
void SetFilename(const std::string &_filename)
Set the filename of the animation.
void SetName(const std::string &_name)
Set the name of the animation.
const std::string & Filename() const
Get the animation filename.
bool InterpolateX() const
Get whether the animation is interpolated on X.
const std::string & FilePath() const
The path to the file where this element was loaded from.
void SetScale(double _scale)
Set the scale of the animation skeleton.
const std::string & Name() const
Get the name of the animation.
Trajectory for Animation.
Definition Actor.hh:132
const std::string & Type() const
Get the type of the trajectory.
Trajectory()
Default constructor.
const Waypoint * WaypointByIndex(uint64_t _index) const
Get a waypoint based on an index.
void SetType(const std::string &_type)
Set the animation type of the trajectory.
Errors Load(ElementPtr _sdf)
Load the trajectory based on a element pointer.
double Tension() const
Get the tension of the trajectory spline.
uint64_t WaypointCount() const
Get the number of waypoints.
void SetId(uint64_t _id)
Set the ID of the trajectory.
void SetTension(double _tension)
Set the tension of trajectory spline.
void AddWaypoint(const Waypoint &_waypoint)
Add a new waypoint.
uint64_t Id() const
Get the unique id of the trajectory.
Waypoint for Trajectory.
Definition Actor.hh:98
ignition::math::Pose3d Pose() const
Get the pose to be reached.
void SetTime(double _time)
Set the time in seconds when the pose should be reached.
Waypoint()
Default constructor.
Errors Load(ElementPtr _sdf)
Load the waypoint based on a element pointer.
double Time() const
Get the time in seconds when the pose should be reached.
void SetPose(const ignition::math::Pose3d &_pose)
Set the pose to be reached.
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