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
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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,
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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 "sdf/Element.hh"
24 #include "sdf/SemanticPose.hh"
25 #include "sdf/Types.hh"
26 #include "sdf/sdf_config.h"
27 #include "sdf/system_util.hh"
28 
29 namespace sdf
30 {
31  // Inline bracket to help doxygen filtering.
32  inline namespace SDF_VERSION_NAMESPACE {
33  //
34 
35  // Forward declarations.
36  class Collision;
37  class Light;
38  class LinkPrivate;
39  class Sensor;
40  class Visual;
41  class LinkPrivate;
42  struct PoseRelativeToGraph;
43 
45  {
47  public: Link();
48 
51  public: Link(const Link &_link);
52 
55  public: Link(Link &&_link) noexcept;
56 
60  public: Link &operator=(Link &&_link);
61 
65  public: Link &operator=(const Link &_link);
66 
68  public: ~Link();
69 
76  public: Errors Load(ElementPtr _sdf);
77 
81  public: std::string Name() const;
82 
86  public: void SetName(const std::string &_name) const;
87 
90  public: uint64_t VisualCount() const;
91 
97  public: const Visual *VisualByIndex(const uint64_t _index) const;
98 
102  public: bool VisualNameExists(const std::string &_name) const;
103 
107  public: const Visual *VisualByName(const std::string &_name) const;
108 
111  public: uint64_t CollisionCount() const;
112 
118  public: const Collision *CollisionByIndex(const uint64_t _index) const;
119 
123  public: bool CollisionNameExists(const std::string &_name) const;
124 
128  public: const Collision *CollisionByName(const std::string &_name) const;
129 
132  public: uint64_t LightCount() const;
133 
139  public: const Light *LightByIndex(const uint64_t _index) const;
140 
144  public: bool LightNameExists(const std::string &_name) const;
145 
149  public: const Light *LightByName(const std::string &_name) const;
150 
153  public: uint64_t SensorCount() const;
154 
160  public: const Sensor *SensorByIndex(const uint64_t _index) const;
161 
165  public: bool SensorNameExists(const std::string &_name) const;
166 
172  public: const Sensor *SensorByName(const std::string &_name) const;
173 
187  public: const ignition::math::Inertiald &Inertial() const;
188 
193  public: bool SetInertial(const ignition::math::Inertiald &_inertial);
194 
198  public: const ignition::math::Pose3d &RawPose() const;
199 
203  public: void SetRawPose(const ignition::math::Pose3d &_pose);
204 
209  public: const std::string &PoseRelativeTo() const;
210 
215  public: void SetPoseRelativeTo(const std::string &_frame);
216 
221  public: sdf::ElementPtr Element() const;
222 
226  public: sdf::SemanticPose SemanticPose() const;
227 
232  private: void SetPoseRelativeToGraph(
233  std::weak_ptr<const PoseRelativeToGraph> _graph);
234 
236  friend class Model;
237 
242  public: bool EnableWind() const;
243 
248  public: void SetEnableWind(bool _enableWind);
249 
251  private: LinkPrivate *dataPtr = nullptr;
252  };
253  }
254 }
255 #endif
Definition: Model.hh:43
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
Definition: Visual.hh:45
Provides a description of a light source.
Definition: Light.hh:62
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:48
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:53
A collision element descibes the collision properties associated with a link.
Definition: Collision.hh:44
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
namespace for Simulation Description Format parser
Definition: Actor.hh:32
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:95