Model.hh

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/*
 * Copyright 2018 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef SDF_MODEL_HH_
#define SDF_MODEL_HH_

#include <memory>
#include <string>
#include <utility>
#include <ignition/math/Pose3.hh>
#include <ignition/utils/ImplPtr.hh>
#include "sdf/Element.hh"
#include "sdf/SemanticPose.hh"
#include "sdf/Types.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"

namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //

  // Forward declarations.
  class Frame;
  class InterfaceModel;
  class Joint;
  class Link;
  class ParserConfig;
  struct NestedInclude;
  struct PoseRelativeToGraph;
  struct FrameAttachedToGraph;
  template <typename T> class ScopedGraph;

  class SDFORMAT_VISIBLE Model
  {
    public: Model();

    public: Errors Load(ElementPtr _sdf);

    public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);

    public: std::string Name() const;

    public: void SetName(const std::string &_name);

    public: bool Static() const;

    public: void SetStatic(bool _static);

    public: bool SelfCollide() const;

    public: void SetSelfCollide(bool _selfCollide);

    public: bool AllowAutoDisable() const;

    public: void SetAllowAutoDisable(bool _allowAutoDisable);

    public: bool EnableWind() const;

    public: void SetEnableWind(bool _enableWind);

    public: uint64_t LinkCount() const;

    public: const Link *LinkByIndex(const uint64_t _index) const;

    public: const Link *LinkByName(const std::string &_name) const;

    public: bool LinkNameExists(const std::string &_name) const;

    public: uint64_t JointCount() const;

    public: const Joint *JointByIndex(const uint64_t _index) const;

    public: bool JointNameExists(const std::string &_name) const;

    public: const Joint *JointByName(const std::string &_name) const;

    public: uint64_t FrameCount() const;

    public: const Frame *FrameByIndex(const uint64_t _index) const;

    public: const Frame *FrameByName(const std::string &_name) const;

    public: bool FrameNameExists(const std::string &_name) const;

    public: uint64_t ModelCount() const;

    public: const Model *ModelByIndex(const uint64_t _index) const;

    public: bool ModelNameExists(const std::string &_name) const;

    public: const Model *ModelByName(const std::string &_name) const;

    public: const ignition::math::Pose3d &RawPose() const;

    public: void SetRawPose(const ignition::math::Pose3d &_pose);

    public: const Link *CanonicalLink() const;

    public: const std::string &CanonicalLinkName() const;

    public: void SetCanonicalLinkName(const std::string &_canonicalLink);

    public: const std::string &PoseRelativeTo() const;

    public: void SetPoseRelativeTo(const std::string &_frame);

    public: sdf::ElementPtr Element() const;

    public: sdf::SemanticPose SemanticPose() const;

    public: const std::string &PlacementFrameName() const;

    public: void SetPlacementFrameName(const std::string &_name);

    // TODO (addisu): If the canonical link is inside an interface model, this
    // function returns {nullptr, name}. This can be problematic for downstream
    // applications.
    public: std::pair<const Link *, std::string> CanonicalLinkAndRelativeName()
        const;

    public: uint64_t InterfaceModelCount() const;

    public: std::shared_ptr<const InterfaceModel> InterfaceModelByIndex(
                const uint64_t _index) const;

    public: const NestedInclude *InterfaceModelNestedIncludeByIndex(
                const uint64_t _index) const;

    private: void SetPoseRelativeToGraph(
        sdf::ScopedGraph<PoseRelativeToGraph> _graph);

    private: void SetFrameAttachedToGraph(
        sdf::ScopedGraph<FrameAttachedToGraph> _graph);

    friend class Root;
    friend class World;

    IGN_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif