#include <Model.hh>

Public Member Functions
	Model ()
	Default constructor. More...

bool	AddJoint (const Joint &_joint)
	Add a joint to the model. More...

bool	AddLink (const Link &_link)
	Add a link to the model. More...

bool	AddModel (const Model &_model)
	Add a model to the model. More...

bool	AllowAutoDisable () const
	Check if this model should be allowed to auto-disable. More...

const Link *	CanonicalLink () const
	Get the model's canonical link. More...

std::pair< const Link *, std::string >	CanonicalLinkAndRelativeName () const
	Get the model's canonical link and the nested name of the link relative to the current model, delimited by "::". More...

const std::string &	CanonicalLinkName () const
	Get the name of the model's canonical link. More...

void	ClearJoints ()
	Remove all joints. More...

void	ClearLinks ()
	Remove all links. More...

void	ClearModels ()
	Remove all models. More...

sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load. More...

bool	EnableWind () const
	Check if this model should be subject to wind. More...

const Frame *	FrameByIndex (const uint64_t _index) const
	Get an immediate (not nested) child explicit frame based on an index. More...

const Frame *	FrameByName (const std::string &_name) const
	Get an explicit frame based on a name. More...

uint64_t	FrameCount () const
	Get the number of explicit frames that are immediate (not nested) children of this Model object. More...

bool	FrameNameExists (const std::string &_name) const
	Get whether an explicit frame name exists. More...

std::shared_ptr< const InterfaceModel >	InterfaceModelByIndex (const uint64_t _index) const
	Get an immediate (not recursively nested) child interface model based on an index. More...

uint64_t	InterfaceModelCount () const
	Get the number of nested interface models that are immediate (not recursively nested) children of this Model object. More...

const NestedInclude *	InterfaceModelNestedIncludeByIndex (const uint64_t _index) const
	Get the nested include information of an immediate (not recursively nested) child interface model based on an index. More...

const Joint *	JointByIndex (const uint64_t _index) const
	Get an immediate (not nested) child joint based on an index. More...

const Joint *	JointByName (const std::string &_name) const
	Get a joint based on a name. More...

uint64_t	JointCount () const
	Get the number of joints that are immediate (not nested) children of this Model object. More...

bool	JointNameExists (const std::string &_name) const
	Get whether a joint name exists. More...

const Link *	LinkByIndex (const uint64_t _index) const
	Get an immediate (not nested) child link based on an index. More...

const Link *	LinkByName (const std::string &_name) const
	Get a link based on a name. More...

uint64_t	LinkCount () const
	Get the number of links that are immediate (not nested) children of this Model object. More...

bool	LinkNameExists (const std::string &_name) const
	Get whether a link name exists. More...

Errors	Load (ElementPtr _sdf)
	Load the model based on a element pointer. More...

Errors	Load (sdf::ElementPtr _sdf, const ParserConfig &_config)
	Load the model based on a element pointer. More...

const Model *	ModelByIndex (const uint64_t _index) const
	Get an immediate (not recursively nested) child model based on an index. More...

const Model *	ModelByName (const std::string &_name) const
	Get a nested model based on a name. More...

uint64_t	ModelCount () const
	Get the number of nested models that are immediate (not recursively nested) children of this Model object. More...

bool	ModelNameExists (const std::string &_name) const
	Get whether a nested model name exists. More...

std::string	Name () const
	Get the name of the model. More...

const std::string &	PlacementFrameName () const
	Get the name of the placement frame of the model. More...

const std::string &	PoseRelativeTo () const
	Get the name of the coordinate frame relative to which this object's pose is expressed. More...

const ignition::math::Pose3d &	RawPose () const
	Get the pose of the model. More...

bool	SelfCollide () const
	Check if this model should self-collide. More...

sdf::SemanticPose	SemanticPose () const
	Get SemanticPose object of this object to aid in resolving poses. More...

void	SetAllowAutoDisable (bool _allowAutoDisable)
	Set this model to allow auto-disabling. More...

void	SetCanonicalLinkName (const std::string &_canonicalLink)
	Set the name of the model's canonical link. More...

void	SetEnableWind (bool _enableWind)
	Set whether this model should be subject to wind. More...

void	SetName (const std::string &_name)
	Set the name of the model. More...

void	SetPlacementFrameName (const std::string &_name)
	Set the name of the placement frame of the model. More...

void	SetPoseRelativeTo (const std::string &_frame)
	Set the name of the coordinate frame relative to which this object's pose is expressed. More...

void	SetRawPose (const ignition::math::Pose3d &_pose)
	Set the pose of the model. More...

void	SetSelfCollide (bool _selfCollide)
	Set this model to self-collide or not self-collide. More...

void	SetStatic (bool _static)
	Set this model to be static or not static. More...

bool	Static () const
	Check if this model should be static. More...

Errors	ValidateGraphs () const
	Check that the FrameAttachedToGraph and PoseRelativeToGraph are valid. More...

Constructor & Destructor Documentation

◆ Model()

sdf::v12::Model::Model ( )

Default constructor.

Member Function Documentation

◆ AddJoint()

bool sdf::v12::Model::AddJoint ( const Joint & _joint )

Add a joint to the model.

Parameters

[in] _link Joint to add.

Returns: True if successful, false if a joint with the name already exists.

◆ AddLink()

bool sdf::v12::Model::AddLink ( const Link & _link )

Add a link to the model.

Parameters

[in] _link Link to add.

Returns: True if successful, false if a link with the name already exists.

◆ AddModel()

bool sdf::v12::Model::AddModel ( const Model & _model )

Add a model to the model.

Parameters

[in] _model Model to add.

Returns: True if successful, false if a model with the name already exists.

◆ AllowAutoDisable()

bool sdf::v12::Model::AllowAutoDisable ( ) const

Check if this model should be allowed to auto-disable.

If auto-disable is allowed, a model that is at rest can choose to not update its dynamics.

Returns: true if auto-disable is allowed for this model

◆ CanonicalLink()

const Link* sdf::v12::Model::CanonicalLink ( ) const

Get the model's canonical link.

Returns: An immutable pointer to the canonical link

◆ CanonicalLinkAndRelativeName()

std::pair<const Link *, std::string> sdf::v12::Model::CanonicalLinkAndRelativeName ( ) const

Get the model's canonical link and the nested name of the link relative to the current model, delimited by "::".

Returns: An immutable pointer to the canonical link and the nested name of the link relative to the current model.

◆ CanonicalLinkName()

const std::string& sdf::v12::Model::CanonicalLinkName ( ) const

Get the name of the model's canonical link.

An empty value indicates that the first link in the model or the first link found in a depth first search of nested models is the canonical link.

Returns: The name of the canonical link.

◆ ClearJoints()

void sdf::v12::Model::ClearJoints ( )

Remove all joints.

◆ ClearLinks()

void sdf::v12::Model::ClearLinks ( )

Remove all links.

◆ ClearModels()

void sdf::v12::Model::ClearModels ( )

Remove all models.

◆ Element()

sdf::ElementPtr sdf::v12::Model::Element ( ) const

Get a pointer to the SDF element that was used during load.

Returns: SDF element pointer. The value will be nullptr if Load has not been called.

◆ EnableWind()

bool sdf::v12::Model::EnableWind ( ) const

Check if this model should be subject to wind.

If true, all links in the model should be affected by the wind. This can be overridden per link.

Returns: true if the model should be subject to wind, false otherwise.

◆ FrameByIndex()

const Frame* sdf::v12::Model::FrameByIndex ( const uint64_t _index ) const

Get an immediate (not nested) child explicit frame based on an index.

Parameters

[in] _index Index of the explicit frame. The index should be in the range [0..FrameCount()).

Returns: Pointer to the explicit frame. Nullptr if the index does not exist.

See also: uint64_t FrameCount() const

◆ FrameByName()

const Frame* sdf::v12::Model::FrameByName ( const std::string & _name ) const

Get an explicit frame based on a name.

Parameters

[in] _name Name of the explicit frame. To get a frame in a nested model, prefix the frame name with the sequence of nested models containing this frame, delimited by "::".

Returns: Pointer to the explicit frame. Nullptr if the name does not exist.

◆ FrameCount()

uint64_t sdf::v12::Model::FrameCount ( ) const

Get the number of explicit frames that are immediate (not nested) children of this Model object.

Remarks: FrameByName() can find explicit frames that are not immediate children of this Model object.

Returns: Number of explicit frames contained in this Model object.

◆ FrameNameExists()

bool sdf::v12::Model::FrameNameExists ( const std::string & _name ) const

Get whether an explicit frame name exists.

Parameters

[in] _name Name of the explicit frame to check. To check for a frame in a nested model, prefix the frame name with the sequence of nested models containing this frame, delimited by "::".

Returns: True if there exists an explicit frame with the given name.

◆ InterfaceModelByIndex()

std::shared_ptr<const InterfaceModel> sdf::v12::Model::InterfaceModelByIndex ( const uint64_t _index ) const

Get an immediate (not recursively nested) child interface model based on an index.

Parameters

[in] _index Index of the nested interface model. The index should be in the range [0..InterfaceModelCount()).

Returns: Pointer to the model. Nullptr if the index does not exist.

See also: uint64_t InterfaceModelCount() const

◆ InterfaceModelCount()

uint64_t sdf::v12::Model::InterfaceModelCount ( ) const

Get the number of nested interface models that are immediate (not recursively nested) children of this Model object.

Returns: Number of nested interface models contained in this Model object.

◆ InterfaceModelNestedIncludeByIndex()

const NestedInclude* sdf::v12::Model::InterfaceModelNestedIncludeByIndex ( const uint64_t _index ) const

Get the nested include information of an immediate (not recursively nested) child interface model based on an index.

Parameters

[in] _index Index of the nested interface model. The index should be in the range [0..InterfaceModelCount()).

Returns: Pointer to the nested include information. Nullptr if the index does not exist.

See also: uint64_t InterfaceModelCount() const

◆ JointByIndex()

const Joint* sdf::v12::Model::JointByIndex ( const uint64_t _index ) const

Get an immediate (not nested) child joint based on an index.

Parameters

[in] _index Index of the joint. The index should be in the range [0..JointCount()).

Returns: Pointer to the joint. Nullptr if the index does not exist.

See also: uint64_t JointCount() const

◆ JointByName()

const Joint* sdf::v12::Model::JointByName ( const std::string & _name ) const

Get a joint based on a name.

Parameters

[in] _name Name of the joint. To get a joint in a nested model, prefix the joint name with the sequence of nested models containing this joint, delimited by "::".

Returns: Pointer to the joint. Nullptr if a joint with the given name does not exist.

See also: bool JointNameExists(const std::string &_name) const

◆ JointCount()

uint64_t sdf::v12::Model::JointCount ( ) const

Get the number of joints that are immediate (not nested) children of this Model object.

Remarks: JointByName() can find joints that are not immediate children of this Model object.

Returns: Number of joints contained in this Model object.

◆ JointNameExists()

bool sdf::v12::Model::JointNameExists ( const std::string & _name ) const

Get whether a joint name exists.

Parameters

[in] _name Name of the joint to check. To check for a joint in a nested model, prefix the joint name with the sequence of nested models containing this joint, delimited by "::".

Returns: True if there exists a joint with the given name.

◆ LinkByIndex()

const Link* sdf::v12::Model::LinkByIndex ( const uint64_t _index ) const

Get an immediate (not nested) child link based on an index.

Parameters

[in] _index Index of the link. The index should be in the range [0..LinkCount()).

Returns: Pointer to the link. Nullptr if the index does not exist.

See also: uint64_t LinkCount() const

◆ LinkByName()

const Link* sdf::v12::Model::LinkByName ( const std::string & _name ) const

Get a link based on a name.

Parameters

[in] _name Name of the link. To get a link in a nested model, prefix the link name with the sequence of nested models containing this link, delimited by "::".

Returns: Pointer to the link. Nullptr if the name does not exist.

◆ LinkCount()

uint64_t sdf::v12::Model::LinkCount ( ) const

Get the number of links that are immediate (not nested) children of this Model object.

Remarks: LinkByName() can find links that are not immediate children of this Model object.

Returns: Number of links contained in this Model object.

◆ LinkNameExists()

bool sdf::v12::Model::LinkNameExists ( const std::string & _name ) const

Get whether a link name exists.

Parameters

[in] _name Name of the link to check. To check for a link in a nested model, prefix the link name with the sequence of nested models containing this link, delimited by "::".

Returns: True if there exists a link with the given name.

◆ Load() [1/2]

Errors sdf::v12::Model::Load ( ElementPtr _sdf )

Load the model based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in] _sdf The SDF Element pointer

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Load() [2/2]

Errors sdf::v12::Model::Load	(	sdf::ElementPtr	_sdf,
		const ParserConfig &	_config
	)

Load the model based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in]	_sdf	The SDF Element pointer
[in]	_config	Parser configuration

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ ModelByIndex()

const Model* sdf::v12::Model::ModelByIndex ( const uint64_t _index ) const

Get an immediate (not recursively nested) child model based on an index.

Parameters

[in] _index Index of the nested model. The index should be in the range [0..ModelCount()).

Returns: Pointer to the model. Nullptr if the index does not exist.

See also: uint64_t ModelCount() const

◆ ModelByName()

const Model* sdf::v12::Model::ModelByName ( const std::string & _name ) const

Get a nested model based on a name.

Parameters

[in] _name Name of the nested model. To get a model nested in other models, prefix the model name with the sequence of nested model names, delimited by "::".

Returns: Pointer to the model. Nullptr if a model with the given name does not exist.

See also: bool ModelNameExists(const std::string &_name) const

◆ ModelCount()

uint64_t sdf::v12::Model::ModelCount ( ) const

Get the number of nested models that are immediate (not recursively nested) children of this Model object.

Remarks: ModelByName() can find nested models that are not immediate children of this Model object.

Returns: Number of nested models contained in this Model object.

◆ ModelNameExists()

bool sdf::v12::Model::ModelNameExists ( const std::string & _name ) const

Get whether a nested model name exists.

Parameters

[in] _name Name of the nested model to check. To check for a model nested in other models, prefix the model name with the sequence of nested model names, delimited by "::".

Returns: True if there exists a nested model with the given name.

◆ Name()

std::string sdf::v12::Model::Name ( ) const

Get the name of the model.

The name of the model should be unique within the scope of a World.

Returns: Name of the model.

◆ PlacementFrameName()

const std::string& sdf::v12::Model::PlacementFrameName ( ) const

Get the name of the placement frame of the model.

Returns: Name of the placement frame attribute of the model.

◆ PoseRelativeTo()

const std::string& sdf::v12::Model::PoseRelativeTo ( ) const

Get the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the parent model/world coordinate frame.

Returns: The name of the pose relative-to frame.

◆ RawPose()

const ignition::math::Pose3d& sdf::v12::Model::RawPose ( ) const

Get the pose of the model.

This is the pose of the model as specified in SDF (<model> <pose> ... </pose></model>), and is typically used to express the position and rotation of a model in a global coordinate frame.

Returns: The pose of the model.

◆ SelfCollide()

bool sdf::v12::Model::SelfCollide ( ) const

Check if this model should self-collide.

A self-colliding model is a model whose links will collide if they come into contact. If a model is not self-colliding, its links will pass through each other.

Returns: true if the model should self-collide, false otherwise.

◆ SemanticPose()

sdf::SemanticPose sdf::v12::Model::SemanticPose ( ) const

Get SemanticPose object of this object to aid in resolving poses.

Returns: SemanticPose object for this link.

◆ SetAllowAutoDisable()

void sdf::v12::Model::SetAllowAutoDisable ( bool _allowAutoDisable )

Set this model to allow auto-disabling.

Parameters

[in] _allowAutoDisable True or false depending on whether the model should be allowed to auto-disable.

See also: AllowAutoDisable()

◆ SetCanonicalLinkName()

void sdf::v12::Model::SetCanonicalLinkName ( const std::string & _canonicalLink )

Set the name of the model's canonical link.

An empty value indicates that the first link in the model or the first link found in a depth first search of nested models is the canonical link.

Parameters

[in] _canonicalLink The name of the canonical link.

◆ SetEnableWind()

void sdf::v12::Model::SetEnableWind ( bool _enableWind )

Set whether this model should be subject to wind.

Parameters

[in] _enableWind True or false depending on whether the model should be subject to wind.

◆ SetName()

void sdf::v12::Model::SetName ( const std::string & _name )

Set the name of the model.

The name of the model should be unique within the scope of a World.

Parameters

[in] _name Name of the model.

◆ SetPlacementFrameName()

void sdf::v12::Model::SetPlacementFrameName ( const std::string & _name )

Set the name of the placement frame of the model.

The specified placement frame must exist within the model.

Parameters

[in] _name Name of the placement frame.

◆ SetPoseRelativeTo()

void sdf::v12::Model::SetPoseRelativeTo ( const std::string & _frame )

Set the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the parent model/world coordinate frame.

Parameters

[in] _frame The name of the pose relative-to frame.

◆ SetRawPose()

void sdf::v12::Model::SetRawPose ( const ignition::math::Pose3d & _pose )

Set the pose of the model.

See also: const ignition::math::Pose3d &RawPose() const

Parameters

[in] _pose The new model pose.

◆ SetSelfCollide()

void sdf::v12::Model::SetSelfCollide ( bool _selfCollide )

Set this model to self-collide or not self-collide.

Parameters

[in] _selfCollide True or false depending on whether the model should self-collide.

See also: SelfCollide()

◆ SetStatic()

void sdf::v12::Model::SetStatic ( bool _static )

Set this model to be static or not static.

Parameters

[in] _static True or false depending on whether the model should be static.

See also: Static()

◆ Static()

bool sdf::v12::Model::Static ( ) const

Check if this model should be static.

A static model is one that is not subject to physical forces (in other words, it's purely kinematic instead of dynamic).

Returns: true if the model should be static, false if it is dynamic.

◆ ValidateGraphs()

Errors sdf::v12::Model::ValidateGraphs ( ) const

Check that the FrameAttachedToGraph and PoseRelativeToGraph are valid.

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

The documentation for this class was generated from the following file:

Model.hh

Public Member Functions

Constructor & Destructor Documentation

◆ Model()

Member Function Documentation

◆ AddJoint()

◆ AddLink()

◆ AddModel()

◆ AllowAutoDisable()

◆ CanonicalLink()

◆ CanonicalLinkAndRelativeName()

◆ CanonicalLinkName()

◆ ClearJoints()

◆ ClearLinks()

◆ ClearModels()

◆ Element()

◆ EnableWind()

◆ FrameByIndex()

◆ FrameByName()

◆ FrameCount()

◆ FrameNameExists()

◆ InterfaceModelByIndex()

◆ InterfaceModelCount()

◆ InterfaceModelNestedIncludeByIndex()

◆ JointByIndex()

◆ JointByName()

◆ JointCount()

◆ JointNameExists()

◆ LinkByIndex()

◆ LinkByName()

◆ LinkCount()

◆ LinkNameExists()

◆ Load() [1/2]

◆ Load() [2/2]

◆ ModelByIndex()

◆ ModelByName()

◆ ModelCount()

◆ ModelNameExists()

◆ Name()

◆ PlacementFrameName()

◆ PoseRelativeTo()

◆ RawPose()

◆ SelfCollide()

◆ SemanticPose()

◆ SetAllowAutoDisable()

◆ SetCanonicalLinkName()

◆ SetEnableWind()

◆ SetName()

◆ SetPlacementFrameName()

◆ SetPoseRelativeTo()

◆ SetRawPose()

◆ SetSelfCollide()

◆ SetStatic()

◆ Static()

◆ ValidateGraphs()