InterfaceJoint.hh
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1 /*
2  * Copyright 2021 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.
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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16  */
17 
18 #ifndef SDF_INTERFACE_JOINT_HH_
19 #define SDF_INTERFACE_JOINT_HH_
20 
21 #include <string>
22 
23 #include <ignition/math/Pose3.hh>
24 #include <ignition/utils/ImplPtr.hh>
25 
26 #include "sdf/sdf_config.h"
27 #include "sdf/system_util.hh"
28 
29 namespace sdf
30 {
31 inline namespace SDF_VERSION_NAMESPACE
32 {
35 {
40  public: InterfaceJoint(const std::string &_name,
41  const std::string &_childName, const ignition::math::Pose3d &_pose);
42 
45  public: const std::string &Name() const;
46 
49  public: const std::string &ChildName() const;
50 
53  public: const ignition::math::Pose3d &PoseInChildFrame() const;
54 
56  IGN_UTILS_IMPL_PTR(dataPtr)
57 };
58 }
59 }
60 
61 #endif
Interface element representing a Joint.
Definition: InterfaceJoint.hh:34
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:41
namespace for Simulation Description Format parser
Definition: Actor.hh:33