Public Member Functions | List of all members
sdf::SDF_VERSION_NAMESPACE::InterfaceModelPoseGraph Class Reference

Class used in reposture callbacks of custom parsers to resolve poses. More...

#include <InterfaceModelPoseGraph.hh>

Public Member Functions

sdf::Errors ResolveNestedFramePose (gz::math::Pose3d &_pose, const std::string &_frameName, const std::string &_relativeTo="world") const
 Resolve the pose a frame within the model's scope. More...
 
sdf::Errors ResolveNestedModelFramePoseInWorldFrame (gz::math::Pose3d &_pose) const
 Resolve pose relative to world. More...
 

Detailed Description

Class used in reposture callbacks of custom parsers to resolve poses.

Member Function Documentation

◆ ResolveNestedFramePose()

sdf::Errors sdf::SDF_VERSION_NAMESPACE::InterfaceModelPoseGraph::ResolveNestedFramePose ( gz::math::Pose3d &  _pose,
const std::string &  _frameName,
const std::string &  _relativeTo = "world" 
) const

Resolve the pose a frame within the model's scope.

Parameters
[in]relative_toCan be "world", or any frame within the nested model's frame graph. (It cannot reach outside of this model).

◆ ResolveNestedModelFramePoseInWorldFrame()

sdf::Errors sdf::SDF_VERSION_NAMESPACE::InterfaceModelPoseGraph::ResolveNestedModelFramePoseInWorldFrame ( gz::math::Pose3d &  _pose) const

Resolve pose relative to world.

Parameters
[out]_poseResolved pose
Returns
Errors

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