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_to

Can 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]

_pose

Resolved pose

Returns

Errors

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

• InterfaceModelPoseGraph.hh