Collision.hh
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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
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13  * See the License for the specific language governing permissions and
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15  *
16  */
17 #ifndef SDF_COLLISION_HH_
18 #define SDF_COLLISION_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <ignition/math/Pose3.hh>
23 #include <ignition/utils/ImplPtr.hh>
24 #include "sdf/Element.hh"
25 #include "sdf/SemanticPose.hh"
26 #include "sdf/Types.hh"
27 #include "sdf/sdf_config.h"
28 #include "sdf/system_util.hh"
29 
30 namespace sdf
31 {
32  // Inline bracket to help doxygen filtering.
33  inline namespace SDF_VERSION_NAMESPACE {
34  //
35  // Forward declaration.
36  class Geometry;
37  class Surface;
38  struct PoseRelativeToGraph;
39  template <typename T> class ScopedGraph;
40 
46  {
48  public: Collision();
49 
56  public: Errors Load(ElementPtr _sdf);
57 
61  public: std::string Name() const;
62 
66  public: void SetName(const std::string &_name);
67 
70  public: const Geometry *Geom() const;
71 
74  public: void SetGeom(const Geometry &_geom);
75 
78  public: const sdf::Surface *Surface() const;
79 
82  public: void SetSurface(const sdf::Surface &_surface);
83 
88  public: const ignition::math::Pose3d &RawPose() const;
89 
93  public: void SetRawPose(const ignition::math::Pose3d &_pose);
94 
99  public: const std::string &PoseRelativeTo() const;
100 
105  public: void SetPoseRelativeTo(const std::string &_frame);
106 
110  public: sdf::SemanticPose SemanticPose() const;
111 
116  public: sdf::ElementPtr Element() const;
117 
122  private: void SetXmlParentName(const std::string &_xmlParentName);
123 
128  private: void SetPoseRelativeToGraph(
130 
134  friend class Link;
135 
137  IGN_UTILS_IMPL_PTR(dataPtr)
138  };
139  }
140 }
141 #endif
sdf::v12::ScopedGraph
Definition: Collision.hh:39
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:33
sdf::v12::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
sdf::v12::Collision
A collision element descibes the collision properties associated with a link.
Definition: Collision.hh:45
sdf::v12::Geometry
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:77
Types.hh
SemanticPose.hh
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:41
sdf::v12::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::v12::Element
SDF Element class.
Definition: Element.hh:73
sdf::v12::Surface
Surface information for a collision.
Definition: Surface.hh:62
system_util.hh
sdf::v12::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
Element.hh