Public Member Functions | List of all members
sdf::v12::Actor Class Reference

Provides a description of an actor. More...

#include <Actor.hh>

Public Member Functions

 Actor ()
 Default constructor. More...
 
void AddAnimation (const Animation &_anim)
 Add a new animation. More...
 
bool AddJoint (const Joint &_joint)
 Add a joint to the actor. More...
 
bool AddLink (const Link &_link)
 Add a link to the actor. More...
 
void AddPlugin (const Plugin &_plugin)
 Add a plugin to this object. More...
 
void AddTrajectory (const Trajectory &_traj)
 Add a new trajectory. More...
 
const AnimationAnimationByIndex (uint64_t _index) const
 Get an animation based on an index. More...
 
uint64_t AnimationCount () const
 Get the number of animations. More...
 
bool AnimationNameExists (const std::string &_name) const
 Get whether an animation name exists. More...
 
void ClearJoints ()
 Remove all joints. More...
 
void ClearLinks ()
 Remove all links. More...
 
void ClearPlugins ()
 Remove all plugins. More...
 
sdf::ElementPtr Element () const
 Get a pointer to the SDF element that was used during load. More...
 
const std::string & FilePath () const
 The path to the file where this element was loaded from. More...
 
const JointJointByIndex (uint64_t _index) const
 Get a joint based on an index. More...
 
uint64_t JointCount () const
 Get the number of joints. More...
 
bool JointNameExists (const std::string &_name) const
 Get whether a joint name exists. More...
 
const LinkLinkByIndex (uint64_t _index) const
 Get a link based on an index. More...
 
uint64_t LinkCount () const
 Get the number of links. More...
 
bool LinkNameExists (const std::string &_name) const
 Get whether a link name exists. More...
 
Errors Load (ElementPtr _sdf)
 Load the actor based on a element pointer. More...
 
const std::string & Name () const
 Get the name of the actor. More...
 
sdf::PluginsPlugins ()
 Get a mutable vector of plugins attached to this object. More...
 
const sdf::PluginsPlugins () const
 Get the plugins attached to this object. 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 actor. More...
 
bool ScriptAutoStart () const
 Get whether the animation plays when simulation starts. More...
 
double ScriptDelayStart () const
 Get the time (in seconds) of delay to start. More...
 
bool ScriptLoop () const
 Get whether the animation plays in loop. More...
 
void SetFilePath (const std::string &_filePath)
 Set the path to the file where this element was loaded from. More...
 
void SetName (const std::string &_name)
 Set the name of the actor. 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 actor. More...
 
void SetScriptAutoStart (bool _scriptAutoStart)
 Set whether the animation plays when simulation starts. More...
 
void SetScriptDelayStart (double _scriptDelayStart)
 Set the delay time to start. More...
 
void SetScriptLoop (bool _scriptLoop)
 Set whether the animation plays in loop. More...
 
void SetSkinFilename (std::string _skinFilename)
 Set the skin filename. More...
 
void SetSkinScale (double _skinScale)
 Set the skin scale. More...
 
const std::string & SkinFilename () const
 Get the skin filename. More...
 
double SkinScale () const
 Get the skin scale. More...
 
sdf::ElementPtr ToElement () const
 Create and return an SDF element filled with data from this actor. More...
 
const TrajectoryTrajectoryByIndex (uint64_t _index) const
 Get a trajectory based on an index. More...
 
uint64_t TrajectoryCount () const
 Get the number of trajectories. More...
 
bool TrajectoryIdExists (uint64_t _id) const
 Get whether a trajectory id exists. More...
 

Detailed Description

Provides a description of an actor.

Constructor & Destructor Documentation

◆ Actor()

sdf::v12::Actor::Actor ( )

Default constructor.

Member Function Documentation

◆ AddAnimation()

void sdf::v12::Actor::AddAnimation ( const Animation _anim)

Add a new animation.

Parameters
[in]_animAnimation to be added.

◆ AddJoint()

bool sdf::v12::Actor::AddJoint ( const Joint _joint)

Add a joint to the actor.

Parameters
[in]_linkJoint to add.
Returns
True if successful, false if a joint with the name already exists.

◆ AddLink()

bool sdf::v12::Actor::AddLink ( const Link _link)

Add a link to the actor.

Parameters
[in]_linkLink to add.
Returns
True if successful, false if a link with the name already exists.

◆ AddPlugin()

void sdf::v12::Actor::AddPlugin ( const Plugin _plugin)

Add a plugin to this object.

Parameters
[in]_pluginPlugin to add.

◆ AddTrajectory()

void sdf::v12::Actor::AddTrajectory ( const Trajectory _traj)

Add a new trajectory.

Parameters
[in]_trajTrajectory to be added.

◆ AnimationByIndex()

const Animation* sdf::v12::Actor::AnimationByIndex ( uint64_t  _index) const

Get an animation based on an index.

Parameters
[in]_indexIndex of the animation. The index should be in the range [0..AnimationCount()).
Returns
Pointer to the animation. Nullptr if the index does not exist.
See also
uint64_t AnimationCount() const

◆ AnimationCount()

uint64_t sdf::v12::Actor::AnimationCount ( ) const

Get the number of animations.

Returns
Number of animations.

◆ AnimationNameExists()

bool sdf::v12::Actor::AnimationNameExists ( const std::string &  _name) const

Get whether an animation name exists.

Parameters
[in]_nameName of the animation to check.
Returns
True if there exists an animation with the given name.

◆ ClearJoints()

void sdf::v12::Actor::ClearJoints ( )

Remove all joints.

◆ ClearLinks()

void sdf::v12::Actor::ClearLinks ( )

Remove all links.

◆ ClearPlugins()

void sdf::v12::Actor::ClearPlugins ( )

Remove all plugins.

◆ Element()

sdf::ElementPtr sdf::v12::Actor::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.

◆ FilePath()

const std::string& sdf::v12::Actor::FilePath ( ) const

The path to the file where this element was loaded from.

Returns
Full path to the file on disk.

◆ JointByIndex()

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

Get a joint based on an index.

Parameters
[in]_indexIndex 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

◆ JointCount()

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

Get the number of joints.

Returns
Number of joints.

◆ JointNameExists()

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

Get whether a joint name exists.

Parameters
[in]_nameName of the joint to check.
Returns
True if there exists a joint with the given name.

◆ LinkByIndex()

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

Get a link based on an index.

Parameters
[in]_indexIndex 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

◆ LinkCount()

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

Get the number of links.

Returns
Number of links.

◆ LinkNameExists()

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

Get whether a link name exists.

Parameters
[in]_nameName of the link to check.
Returns
True if there exists a link with the given name.

◆ Load()

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

Load the actor 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]_sdfThe 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.

◆ Name()

const std::string& sdf::v12::Actor::Name ( ) const

Get the name of the actor.

Returns
Name of the actor.

◆ Plugins() [1/2]

sdf::Plugins& sdf::v12::Actor::Plugins ( )

Get a mutable vector of plugins attached to this object.

Returns
A vector of Plugin, which will be empty if there are no plugins.

◆ Plugins() [2/2]

const sdf::Plugins& sdf::v12::Actor::Plugins ( ) const

Get the plugins attached to this object.

Returns
A vector of Plugin, which will be empty if there are no plugins.

◆ PoseRelativeTo()

const std::string& sdf::v12::Actor::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 world frame.

Returns
The name of the pose relative-to frame.

◆ RawPose()

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

Get the pose of the actor.

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

Returns
The pose of the actor.

◆ ScriptAutoStart()

bool sdf::v12::Actor::ScriptAutoStart ( ) const

Get whether the animation plays when simulation starts.

Returns
True if the animation plays when simulation starts.

◆ ScriptDelayStart()

double sdf::v12::Actor::ScriptDelayStart ( ) const

Get the time (in seconds) of delay to start.

Returns
Time of delay to start.

◆ ScriptLoop()

bool sdf::v12::Actor::ScriptLoop ( ) const

Get whether the animation plays in loop.

Returns
True if the animation plays in loop.

◆ SetFilePath()

void sdf::v12::Actor::SetFilePath ( const std::string &  _filePath)

Set the path to the file where this element was loaded from.

\paramp[in] _filePath Full path to the file on disk.

◆ SetName()

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

Set the name of the actor.

Parameters
[in]_nameName of the actor.

◆ SetPoseRelativeTo()

void sdf::v12::Actor::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 world frame.

Parameters
[in]_frameThe name of the pose relative-to frame.

◆ SetRawPose()

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

Set the pose of the actor.

See also
const ignition::math::Pose3d &RawPose() const
Parameters
[in]_poseThe new actor pose.

◆ SetScriptAutoStart()

void sdf::v12::Actor::SetScriptAutoStart ( bool  _scriptAutoStart)

Set whether the animation plays when simulation starts.

Parameters
[in]_staticAutoStartTrue to indicate that the animation plays when simulation starts.

◆ SetScriptDelayStart()

void sdf::v12::Actor::SetScriptDelayStart ( double  _scriptDelayStart)

Set the delay time to start.

Parameters
[in]_scriptDelayStartTime of delay to start.

◆ SetScriptLoop()

void sdf::v12::Actor::SetScriptLoop ( bool  _scriptLoop)

Set whether the animation plays in loop.

Parameters
[in]_scriptLoopTrue to indicate that the animation plays in loop.

◆ SetSkinFilename()

void sdf::v12::Actor::SetSkinFilename ( std::string  _skinFilename)

Set the skin filename.

Parameters
[in]_skinFilenameSkin filename.

◆ SetSkinScale()

void sdf::v12::Actor::SetSkinScale ( double  _skinScale)

Set the skin scale.

Parameters
[in]_skinScaleSkin scale.

◆ SkinFilename()

const std::string& sdf::v12::Actor::SkinFilename ( ) const

Get the skin filename.

Returns
Constant skin filename.

◆ SkinScale()

double sdf::v12::Actor::SkinScale ( ) const

Get the skin scale.

Returns
Constant skin filename.

◆ ToElement()

sdf::ElementPtr sdf::v12::Actor::ToElement ( ) const

Create and return an SDF element filled with data from this actor.

Note that parameter passing functionality is not captured with this function.

Returns
SDF element pointer with updated actor values.

◆ TrajectoryByIndex()

const Trajectory* sdf::v12::Actor::TrajectoryByIndex ( uint64_t  _index) const

Get a trajectory based on an index.

Parameters
[in]_indexIndex of the trajectory. The index should be in the range [0..TrajectoryCount()).
Returns
Pointer to the trajectory. Nullptr if the index does not exist.
See also
uint64_t TrajectoryCount() const

◆ TrajectoryCount()

uint64_t sdf::v12::Actor::TrajectoryCount ( ) const

Get the number of trajectories.

Returns
Number of trajectories.

◆ TrajectoryIdExists()

bool sdf::v12::Actor::TrajectoryIdExists ( uint64_t  _id) const

Get whether a trajectory id exists.

Parameters
[in]_idId of the trajectory to check.
Returns
True if there exists a trajectory with the given name.

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