#include <Model.hh>

Public Member Functions
	Model ()
	Default constructor. More...

	Model (const Model &_model)
	Copy constructor. More...

	Model (Model &&_model) noexcept
	Move constructor. More...

	~Model ()
	Destructor. More...

bool	AllowAutoDisable () const
	Check if this model should be allowed to auto-disable. More...

const Link *	CanonicalLink () const
	Get the model's canonical link. More...

const std::string &	CanonicalLinkName () const
	Get the name of the model's canonical link. More...

sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load. More...

bool	EnableWind () const
	Check if this model should be subject to wind. More...

const Frame *	FrameByIndex (const uint64_t _index) const
	Get an explicit frame based on an index. More...

const Frame *	FrameByName (const std::string &_name) const
	Get an explicit frame based on a name. More...

uint64_t	FrameCount () const
	Get the number of explicit frames. More...

bool	FrameNameExists (const std::string &_name) const
	Get whether an explicit frame name exists. More...

const Joint *	JointByIndex (const uint64_t _index) const
	Get a joint based on an index. More...

const Joint *	JointByName (const std::string &_name) const
	Get a joint based on a name. More...

uint64_t	JointCount () const
	Get the number of joints. More...

bool	JointNameExists (const std::string &_name) const
	Get whether a joint name exists. More...

const Link *	LinkByIndex (const uint64_t _index) const
	Get a link based on an index. More...

const Link *	LinkByName (const std::string &_name) const
	Get a link based on a name. More...

uint64_t	LinkCount () const
	Get the number of links. More...

bool	LinkNameExists (const std::string &_name) const
	Get whether a link name exists. More...

Errors	Load (ElementPtr _sdf)
	Load the model based on a element pointer. More...

const Model *	ModelByIndex (const uint64_t _index) const
	Get a nested model based on an index. More...

const Model *	ModelByName (const std::string &_name) const
	Get a nested model based on a name. More...

uint64_t	ModelCount () const
	Get the number of nested models. More...

bool	ModelNameExists (const std::string &_name) const
	Get whether a nested model name exists. More...

std::string	Name () const
	Get the name of the model. More...

Model &	operator= (Model &&_model)
	Move assignment operator. More...

Model &	operator= (const Model &_model)
	Copy assignment operator. More...

const std::string &	PoseRelativeTo () const
	Get the name of the coordinate frame relative to which this object's pose is expressed. More...

const ignition::math::Pose3d &	RawPose () const
	Get the pose of the model. More...

bool	SelfCollide () const
	Check if this model should self-collide. More...

sdf::SemanticPose	SemanticPose () const
	Get SemanticPose object of this object to aid in resolving poses. More...

void	SetAllowAutoDisable (bool _allowAutoDisable)
	Set this model to allow auto-disabling. More...

void	SetCanonicalLinkName (const std::string &_canonicalLink)
	Set the name of the model's canonical link. More...

void	SetEnableWind (bool _enableWind)
	Set whether this model should be subject to wind. More...

void	SetName (const std::string &_name)
	Set the name of the model. More...

void	SetPoseRelativeTo (const std::string &_frame)
	Set the name of the coordinate frame relative to which this object's pose is expressed. More...

void	SetRawPose (const ignition::math::Pose3d &_pose)
	Set the pose of the model. More...

void	SetSelfCollide (bool _selfCollide)
	Set this model to self-collide or not self-collide. More...

void	SetStatic (bool _static)
	Set this model to be static or not static. More...

bool	Static () const
	Check if this model should be static. More...

Friends
std::pair< const Link *, std::string >	modelCanonicalLinkAndRelativeName (const Model *)
	Allow helper function in FrameSemantics.cc to call CanonicalLinkAndRelativeName. More...

Constructor & Destructor Documentation

◆ Model() [1/3]

sdf::v10::Model::Model ( )

Default constructor.

◆ Model() [2/3]

sdf::v10::Model::Model ( const Model & _model )

Copy constructor.

Parameters

[in] _model Model to copy.

◆ Model() [3/3]

sdf::v10::Model::Model ( Model && _model )

noexcept

Move constructor.

Parameters

[in] _model Model to move.

◆ ~Model()

sdf::v10::Model::~Model ( )

Destructor.

Member Function Documentation

◆ AllowAutoDisable()

bool sdf::v10::Model::AllowAutoDisable ( ) const

Check if this model should be allowed to auto-disable.

If auto-disable is allowed, a model that is at rest can choose to not update its dynamics.

Returns: true if auto-disable is allowed for this model

◆ CanonicalLink()

const Link* sdf::v10::Model::CanonicalLink ( ) const

Get the model's canonical link.

Returns: An immutable pointer to the canonical link

◆ CanonicalLinkName()

const std::string& sdf::v10::Model::CanonicalLinkName ( ) const

Get the name of the model's canonical link.

An empty value indicates that the first link in the model or the first link found in a depth first search of nested models is the canonical link.

Returns: The name of the canonical link.

◆ Element()

sdf::ElementPtr sdf::v10::Model::Element ( ) const

Get a pointer to the SDF element that was used during load.

Returns: SDF element pointer. The value will be nullptr if Load has not been called.

◆ EnableWind()

bool sdf::v10::Model::EnableWind ( ) const

Check if this model should be subject to wind.

If true, all links in the model should be affected by the wind. This can be overridden per link.

Returns: true if the model should be subject to wind, false otherwise.

◆ FrameByIndex()

const Frame* sdf::v10::Model::FrameByIndex ( const uint64_t _index ) const

Get an explicit frame based on an index.

Parameters

[in] _index Index of the explicit frame. The index should be in the range [0..FrameCount()).

Returns: Pointer to the explicit frame. Nullptr if the index does not exist.

See also: uint64_t FrameCount() const

◆ FrameByName()

const Frame* sdf::v10::Model::FrameByName ( const std::string & _name ) const

Get an explicit frame based on a name.

Parameters

[in] _name Name of the explicit frame.

Returns: Pointer to the explicit frame. Nullptr if the name does not exist.

◆ FrameCount()

uint64_t sdf::v10::Model::FrameCount ( ) const

Get the number of explicit frames.

Returns: Number of explicit frames contained in this Model object.

◆ FrameNameExists()

bool sdf::v10::Model::FrameNameExists ( const std::string & _name ) const

Get whether an explicit frame name exists.

Parameters

[in] _name Name of the explicit frame to check.

Returns: True if there exists an explicit frame with the given name.

◆ JointByIndex()

const Joint* sdf::v10::Model::JointByIndex ( const uint64_t _index ) const

Get a joint based on an index.

Parameters

[in] _index Index of the joint. The index should be in the range [0..JointCount()).

Returns: Pointer to the joint. Nullptr if the index does not exist.

See also: uint64_t JointCount() const

◆ JointByName()

const Joint* sdf::v10::Model::JointByName ( const std::string & _name ) const

Get a joint based on a name.

Parameters

[in] _name Name of the joint.

Returns: Pointer to the joint. Nullptr if a joint with the given name does not exist.

See also: bool JointNameExists(const std::string &_name) const

◆ JointCount()

uint64_t sdf::v10::Model::JointCount ( ) const

Get the number of joints.

Returns: Number of joints contained in this Model object.

◆ JointNameExists()

bool sdf::v10::Model::JointNameExists ( const std::string & _name ) const

Get whether a joint name exists.

Parameters

[in] _name Name of the joint to check.

Returns: True if there exists a joint with the given name.

◆ LinkByIndex()

const Link* sdf::v10::Model::LinkByIndex ( const uint64_t _index ) const

Get a link based on an index.

Parameters

[in] _index Index of the link. The index should be in the range [0..LinkCount()).

Returns: Pointer to the link. Nullptr if the index does not exist.

See also: uint64_t LinkCount() const

◆ LinkByName()

const Link* sdf::v10::Model::LinkByName ( const std::string & _name ) const

Get a link based on a name.

Parameters

[in] _name Name of the link.

Returns: Pointer to the link. Nullptr if the name does not exist.

◆ LinkCount()

uint64_t sdf::v10::Model::LinkCount ( ) const

Get the number of links.

Returns: Number of links contained in this Model object.

◆ LinkNameExists()

bool sdf::v10::Model::LinkNameExists ( const std::string & _name ) const

Get whether a link name exists.

Parameters

[in] _name Name of the link to check.

Returns: True if there exists a link with the given name.

◆ Load()

Errors sdf::v10::Model::Load ( ElementPtr _sdf )

Load the model based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in] _sdf The SDF Element pointer

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ ModelByIndex()

const Model* sdf::v10::Model::ModelByIndex ( const uint64_t _index ) const

Get a nested model based on an index.

Parameters

[in] _index Index of the nested model. The index should be in the range [0..ModelCount()).

Returns: Pointer to the model. Nullptr if the index does not exist.

See also: uint64_t ModelCount() const

◆ ModelByName()

const Model* sdf::v10::Model::ModelByName ( const std::string & _name ) const

Get a nested model based on a name.

Parameters

[in] _name Name of the nested model.

Returns: Pointer to the model. Nullptr if a model with the given name does not exist.

See also: bool ModelNameExists(const std::string &_name) const

◆ ModelCount()

uint64_t sdf::v10::Model::ModelCount ( ) const

Get the number of nested models.

Returns: Number of nested models contained in this Model object.

◆ ModelNameExists()

bool sdf::v10::Model::ModelNameExists ( const std::string & _name ) const

Get whether a nested model name exists.

Parameters

[in] _name Name of the nested model to check.

Returns: True if there exists a nested model with the given name.

◆ Name()

std::string sdf::v10::Model::Name ( ) const

Get the name of the model.

The name of the model should be unique within the scope of a World.

Returns: Name of the model.

◆ operator=() [1/2]

Model& sdf::v10::Model::operator= ( Model && _model )

Move assignment operator.

Parameters

[in] _model Model to move.

Returns: Reference to this.

◆ operator=() [2/2]

Model& sdf::v10::Model::operator= ( const Model & _model )

Copy assignment operator.

Parameters

[in] _model Model to copy.

Returns: Reference to this.

◆ PoseRelativeTo()

const std::string& sdf::v10::Model::PoseRelativeTo ( ) const

Get the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the parent model/world coordinate frame.

Returns: The name of the pose relative-to frame.

◆ RawPose()

const ignition::math::Pose3d& sdf::v10::Model::RawPose ( ) const

Get the pose of the model.

This is the pose of the model as specified in SDF (<model> <pose> ... </pose></model>), and is typically used to express the position and rotation of a model in a global coordinate frame.

Returns: The pose of the model.

◆ SelfCollide()

bool sdf::v10::Model::SelfCollide ( ) const

Check if this model should self-collide.

A self-colliding model is a model whose links will collide if they come into contact. If a model is not self-colliding, its links will pass through each other.

Returns: true if the model should self-collide, false otherwise.

◆ SemanticPose()

sdf::SemanticPose sdf::v10::Model::SemanticPose ( ) const

Get SemanticPose object of this object to aid in resolving poses.

Returns: SemanticPose object for this link.

◆ SetAllowAutoDisable()

void sdf::v10::Model::SetAllowAutoDisable ( bool _allowAutoDisable )

Set this model to allow auto-disabling.

Parameters

[in] _allowAutoDisable True or false depending on whether the model should be allowed to auto-disable.

See also: AllowAutoDisable()

◆ SetCanonicalLinkName()

void sdf::v10::Model::SetCanonicalLinkName ( const std::string & _canonicalLink )

Set the name of the model's canonical link.

An empty value indicates that the first link in the model or the first link found in a depth first search of nested models is the canonical link.

Parameters

[in] _canonicalLink The name of the canonical link.

◆ SetEnableWind()

void sdf::v10::Model::SetEnableWind ( bool _enableWind )

Set whether this model should be subject to wind.

Parameters

[in] _enableWind True or false depending on whether the model should be subject to wind.

◆ SetName()

void sdf::v10::Model::SetName ( const std::string & _name )

Set the name of the model.

The name of the model should be unique within the scope of a World.

Parameters

[in] _name Name of the model.

◆ SetPoseRelativeTo()

void sdf::v10::Model::SetPoseRelativeTo ( const std::string & _frame )

Set the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the parent model/world coordinate frame.

Parameters

[in] _frame The name of the pose relative-to frame.

◆ SetRawPose()

void sdf::v10::Model::SetRawPose ( const ignition::math::Pose3d & _pose )

Set the pose of the model.

See also: const ignition::math::Pose3d &RawPose() const

Parameters

[in] _pose The new model pose.

◆ SetSelfCollide()

void sdf::v10::Model::SetSelfCollide ( bool _selfCollide )

Set this model to self-collide or not self-collide.

Parameters

[in] _selfCollide True or false depending on whether the model should self-collide.

See also: SelfCollide()

◆ SetStatic()

void sdf::v10::Model::SetStatic ( bool _static )

Set this model to be static or not static.

Parameters

[in] _static True or false depending on whether the model should be static.

See also: Static()

◆ Static()

bool sdf::v10::Model::Static ( ) const

Check if this model should be static.

A static model is one that is not subject to physical forces (in other words, it's purely kinematic instead of dynamic).

Returns: true if the model should be static, false if it is dynamic.

Friends And Related Function Documentation

◆ modelCanonicalLinkAndRelativeName

std::pair<const Link *, std::string> modelCanonicalLinkAndRelativeName ( const Model * )

friend

Allow helper function in FrameSemantics.cc to call CanonicalLinkAndRelativeName.

The documentation for this class was generated from the following file:

Model.hh

Public Member Functions

Friends

Constructor & Destructor Documentation

◆ Model() [1/3]

◆ Model() [2/3]

◆ Model() [3/3]

◆ ~Model()

Member Function Documentation

◆ AllowAutoDisable()

◆ CanonicalLink()

◆ CanonicalLinkName()

◆ Element()

◆ EnableWind()

◆ FrameByIndex()

◆ FrameByName()

◆ FrameCount()

◆ FrameNameExists()

◆ JointByIndex()

◆ JointByName()

◆ JointCount()

◆ JointNameExists()

◆ LinkByIndex()

◆ LinkByName()

◆ LinkCount()

◆ LinkNameExists()

◆ Load()

◆ ModelByIndex()

◆ ModelByName()

◆ ModelCount()

◆ ModelNameExists()

◆ Name()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ PoseRelativeTo()

◆ RawPose()

◆ SelfCollide()

◆ SemanticPose()

◆ SetAllowAutoDisable()

◆ SetCanonicalLinkName()

◆ SetEnableWind()

◆ SetName()

◆ SetPoseRelativeTo()

◆ SetRawPose()

◆ SetSelfCollide()

◆ SetStatic()

◆ Static()

Friends And Related Function Documentation

◆ modelCanonicalLinkAndRelativeName