InterfaceModelPoseGraph.hh
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1 /*
2  * Copyright 2021 Open Source Robotics Foundation
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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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17 
18 #ifndef SDF_INTERFACE_MODEL_POSE_GRAPH
19 #define SDF_INTERFACE_MODEL_POSE_GRAPH
20 
21 #include <string>
22 #include <memory>
23 #include <vector>
24 
25 #include <ignition/math/Pose3.hh>
26 #include <ignition/utils/ImplPtr.hh>
27 
28 #include "sdf/Types.hh"
29 
30 #include "sdf/sdf_config.h"
31 #include "sdf/system_util.hh"
32 
33 namespace sdf
34 {
35 inline namespace SDF_VERSION_NAMESPACE
36 {
37 // Forward declarations.
38 class InterfaceModel;
39 struct PoseRelativeToGraph;
40 template <typename T>
41 class ScopedGraph;
42 
45 {
49  public: sdf::Errors ResolveNestedModelFramePoseInWorldFrame(
50  ignition::math::Pose3d &_pose) const;
51 
55  public: sdf::Errors ResolveNestedFramePose(ignition::math::Pose3d &_pose,
56  const std::string &_frameName,
57  const std::string &_relativeTo = "world") const;
58 
63  private: InterfaceModelPoseGraph(const std::string &_name,
65 
66  friend class InterfaceModel;
68  IGN_UTILS_IMPL_PTR(dataPtr)
69 };
70 }
71 }
72 
73 #endif
sdf::v11::ScopedGraph
Definition: Collision.hh:39
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:33
Types.hh
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:41
sdf::v11::InterfaceModel
Interface element representing a Model.
Definition: InterfaceModel.hh:57
system_util.hh
sdf::v11::InterfaceModelPoseGraph
Class used in reposture callbacks of custom parsers to resolve poses.
Definition: InterfaceModelPoseGraph.hh:44
sdf::v11::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106