SemanticPose.hh
Go to the documentation of this file.
1 /*
2  * Copyright 2019 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
7  *
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,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16  */
17 #ifndef SDF_SEMANTIC_POSE_HH_
18 #define SDF_SEMANTIC_POSE_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <ignition/math/Pose3.hh>
23 #include <ignition/utils/ImplPtr.hh>
24 
25 #include <sdf/Error.hh>
26 #include <sdf/Element.hh>
27 #include <sdf/sdf_config.h>
28 #include "sdf/system_util.hh"
29 
30 #ifdef _WIN32
31 // Disable warning C4251 which is triggered by
32 // std::unique_ptr
33 #pragma warning(push)
34 #pragma warning(disable: 4251)
35 #endif
36 
37 namespace sdf
38 {
39  // Inline bracket to help doxygen filtering.
40  inline namespace SDF_VERSION_NAMESPACE {
41  //
42 
43  // Forward declare private data class.
44  struct PoseRelativeToGraph;
45  template <typename T> class ScopedGraph;
46 
55  {
58  public: const ignition::math::Pose3d &RawPose() const;
59 
64  public: const std::string &RelativeTo() const;
65 
73  public: Errors Resolve(ignition::math::Pose3d &_pose,
74  const std::string &_resolveTo = "") const;
75 
83  private: SemanticPose(
84  const ignition::math::Pose3d &_pose,
85  const std::string &_relativeTo,
86  const std::string &_defaultResolveTo,
88 
100  private: SemanticPose(
101  const std::string &_name,
102  const ignition::math::Pose3d &_pose,
103  const std::string &_relativeTo,
104  const std::string &_defaultResolveTo,
106 
107  friend class Collision;
108  friend class Frame;
109  friend class Joint;
110  friend class Light;
111  friend class Link;
112  friend class ParticleEmitter;
113  friend class Model;
114  friend class Sensor;
115  friend class Visual;
116 
118  IGN_UTILS_IMPL_PTR(dataPtr)
119  };
120  }
121 }
122 
123 #ifdef _WIN32
124 #pragma warning(pop)
125 #endif
126 
127 #endif
sdf::v11::Joint
Definition: Joint.hh:85
sdf::v11::ScopedGraph
Definition: Collision.hh:39
Error.hh
sdf::v11::Light
Provides a description of a light source.
Definition: Light.hh:63
sdf::v11::SemanticPose
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:54
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:33
sdf::v11::Model
Definition: Model.hh:48
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:41
sdf::v11::Visual
Definition: Visual.hh:46
sdf::v11::Frame
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition: Frame.hh:42
sdf::v11::Sensor
Information about an SDF sensor.
Definition: Sensor.hh:119
sdf::v11::ParticleEmitter
A description of a particle emitter, which can be attached to a link.
Definition: ParticleEmitter.hh:59
system_util.hh
sdf::v11::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
Element.hh
sdf::v11::Collision
A collision element descibes the collision properties associated with a link.
Definition: Collision.hh:45