Link.hh
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1 /*
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
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_LINK_HH_
18 #define SDF_LINK_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 
36  // Forward declarations.
37  class Collision;
38  class Light;
39  class ParticleEmitter;
40  class Sensor;
41  class Visual;
42  struct PoseRelativeToGraph;
43  template <typename T> class ScopedGraph;
44 
46  {
48  public: Link();
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: uint64_t VisualCount() const;
71 
77  public: const Visual *VisualByIndex(const uint64_t _index) const;
78 
82  public: bool VisualNameExists(const std::string &_name) const;
83 
87  public: const Visual *VisualByName(const std::string &_name) const;
88 
91  public: uint64_t CollisionCount() const;
92 
98  public: const Collision *CollisionByIndex(const uint64_t _index) const;
99 
103  public: bool CollisionNameExists(const std::string &_name) const;
104 
108  public: const Collision *CollisionByName(const std::string &_name) const;
109 
112  public: uint64_t LightCount() const;
113 
119  public: const Light *LightByIndex(const uint64_t _index) const;
120 
124  public: bool LightNameExists(const std::string &_name) const;
125 
129  public: const Light *LightByName(const std::string &_name) const;
130 
133  public: uint64_t SensorCount() const;
134 
140  public: const Sensor *SensorByIndex(const uint64_t _index) const;
141 
145  public: bool SensorNameExists(const std::string &_name) const;
146 
152  public: const Sensor *SensorByName(const std::string &_name) const;
153 
156  public: uint64_t ParticleEmitterCount() const;
157 
164  public: const ParticleEmitter *ParticleEmitterByIndex(
165  const uint64_t _index) const;
166 
170  public: bool ParticleEmitterNameExists(const std::string &_name) const;
171 
177  public: const ParticleEmitter *ParticleEmitterByName(
178  const std::string &_name) const;
179 
193  public: const ignition::math::Inertiald &Inertial() const;
194 
199  public: bool SetInertial(const ignition::math::Inertiald &_inertial);
200 
204  public: const ignition::math::Pose3d &RawPose() const;
205 
209  public: void SetRawPose(const ignition::math::Pose3d &_pose);
210 
215  public: const std::string &PoseRelativeTo() const;
216 
221  public: void SetPoseRelativeTo(const std::string &_frame);
222 
227  public: sdf::ElementPtr Element() const;
228 
232  public: sdf::SemanticPose SemanticPose() const;
233 
237  private: void SetPoseRelativeToGraph(
239 
241  friend class Model;
242 
247  public: bool EnableWind() const;
248 
253  public: void SetEnableWind(bool _enableWind);
254 
259  public: bool AddCollision(const Collision &_collision);
260 
265  public: bool AddVisual(const Visual &_visual);
266 
271  public: bool AddLight(const Light &_light);
272 
277  public: bool AddSensor(const Sensor &_sensor);
278 
280  public: void ClearCollisions();
281 
283  public: void ClearVisuals();
284 
286  public: void ClearLights();
287 
289  public: void ClearSensors();
290 
292  IGN_UTILS_IMPL_PTR(dataPtr)
293  };
294  }
295 }
296 #endif
sdf::v12::Visual
Definition: Visual.hh:46
sdf::v12::ScopedGraph
Definition: Collision.hh:39
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:33
sdf::v12::Light
Provides a description of a light source.
Definition: Light.hh:63
sdf::v12::Model
Definition: Model.hh:48
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
Types.hh
SemanticPose.hh
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:41
sdf::v12::ParticleEmitter
A description of a particle emitter, which can be attached to a link.
Definition: ParticleEmitter.hh:60
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
system_util.hh
sdf::v12::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
sdf::v12::Sensor
Information about an SDF sensor.
Definition: Sensor.hh:135
Element.hh