#include <Link.hh>

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

bool	AddCollision (const Collision &_collision)
	Add a collision to the link. More...

bool	AddLight (const Light &_light)
	Add a light to the link. More...

bool	AddParticleEmitter (const ParticleEmitter &_sensor)
	Add a particle emitter to the link. More...

bool	AddSensor (const Sensor &_sensor)
	Add a sensor to the link. More...

bool	AddVisual (const Visual &_visual)
	Add a visual to the link. More...

void	ClearCollisions ()
	Remove all collisions. More...

void	ClearLights ()
	Remove all lights. More...

void	ClearParticleEmitters ()
	Remove all particle emitters. More...

void	ClearSensors ()
	Remove all sensors. More...

void	ClearVisuals ()
	Remove all visuals. More...

const Collision *	CollisionByIndex (const uint64_t _index) const
	Get a collision based on an index. More...

Collision *	CollisionByIndex (uint64_t _index)
	Get a mutable collision based on an index. More...

Collision *	CollisionByName (const std::string &_name)
	Get a mutable collision based on a name. More...

const Collision *	CollisionByName (const std::string &_name) const
	Get a collision based on a name. More...

uint64_t	CollisionCount () const
	Get the number of collisions. More...

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

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

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

const gz::math::Inertiald &	Inertial () const
	Get the inertial value for this link. More...

const Light *	LightByIndex (const uint64_t _index) const
	Get a light based on an index. More...

Light *	LightByIndex (uint64_t _index)
	Get a mutable light based on an index. More...

Light *	LightByName (const std::string &_name)
	Get a mutable light based on a name. More...

const Light *	LightByName (const std::string &_name) const
	Get a light based on a name. More...

uint64_t	LightCount () const
	Get the number of lights. More...

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

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

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

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

const ParticleEmitter *	ParticleEmitterByIndex (const uint64_t _index) const
	Get a particle emitter based on an index. More...

ParticleEmitter *	ParticleEmitterByIndex (uint64_t _index)
	Get a mutable particle emitter based on an index. More...

ParticleEmitter *	ParticleEmitterByName (const std::string &_name)
	Get a mutable particle emitter based on a name. More...

const ParticleEmitter *	ParticleEmitterByName (const std::string &_name) const
	Get a particle emitter based on a name. More...

uint64_t	ParticleEmitterCount () const
	Get the number of particle emitters. More...

bool	ParticleEmitterNameExists (const std::string &_name) const
	Get whether a particle emitter name exists. More...

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

const gz::math::Pose3d &	RawPose () const
	Get the pose of the link. More...

Errors	ResolveInertial (gz::math::Inertiald &_inertial, const std::string &_resolveTo="") const
	Resolve the Inertial to a specified frame. More...

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

const Sensor *	SensorByIndex (const uint64_t _index) const
	Get a sensor based on an index. More...

Sensor *	SensorByIndex (uint64_t _index)
	Get a mutable sensor based on an index. More...

Sensor *	SensorByName (const std::string &_name)
	Get a mutable sensor based on a name. More...

const Sensor *	SensorByName (const std::string &_name) const
	Get a sensor based on a name. More...

uint64_t	SensorCount () const
	Get the number of sensors. More...

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

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

bool	SetInertial (const gz::math::Inertiald &_inertial)
	Set the inertial value for this link. More...

void	SetName (const std::string &_name)
	Set the name of the link. 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 gz::math::Pose3d &_pose)
	Set the pose of the link. More...

sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this link. More...

const Visual *	VisualByIndex (const uint64_t _index) const
	Get a visual based on an index. More...

Visual *	VisualByIndex (uint64_t _index)
	Get a mutable visual based on an index. More...

Visual *	VisualByName (const std::string &_name)
	Get a mutable visual based on a name. More...

const Visual *	VisualByName (const std::string &_name) const
	Get a visual based on a name. More...

uint64_t	VisualCount () const
	Get the number of visuals. More...

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

Constructor & Destructor Documentation

◆ Link()

sdf::SDF_VERSION_NAMESPACE::Link::Link ( )

Default constructor.

Member Function Documentation

◆ AddCollision()

bool sdf::SDF_VERSION_NAMESPACE::Link::AddCollision ( const Collision & _collision )

Add a collision to the link.

Parameters

[in] _collision Collision to add.

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

◆ AddLight()

bool sdf::SDF_VERSION_NAMESPACE::Link::AddLight ( const Light & _light )

Add a light to the link.

Parameters

[in] _light Light to add.

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

◆ AddParticleEmitter()

bool sdf::SDF_VERSION_NAMESPACE::Link::AddParticleEmitter ( const ParticleEmitter & _sensor )

Add a particle emitter to the link.

Parameters

[in] _emitter Particle emitter to add.

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

◆ AddSensor()

bool sdf::SDF_VERSION_NAMESPACE::Link::AddSensor ( const Sensor & _sensor )

Add a sensor to the link.

Parameters

[in] _sensor Sensor to add.

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

◆ AddVisual()

bool sdf::SDF_VERSION_NAMESPACE::Link::AddVisual ( const Visual & _visual )

Add a visual to the link.

Parameters

[in] _visual Visual to add.

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

◆ ClearCollisions()

void sdf::SDF_VERSION_NAMESPACE::Link::ClearCollisions ( )

Remove all collisions.

◆ ClearLights()

void sdf::SDF_VERSION_NAMESPACE::Link::ClearLights ( )

Remove all lights.

◆ ClearParticleEmitters()

void sdf::SDF_VERSION_NAMESPACE::Link::ClearParticleEmitters ( )

Remove all particle emitters.

◆ ClearSensors()

void sdf::SDF_VERSION_NAMESPACE::Link::ClearSensors ( )

Remove all sensors.

◆ ClearVisuals()

void sdf::SDF_VERSION_NAMESPACE::Link::ClearVisuals ( )

Remove all visuals.

◆ CollisionByIndex() [1/2]

const Collision* sdf::SDF_VERSION_NAMESPACE::Link::CollisionByIndex ( const uint64_t _index ) const

Get a collision based on an index.

Parameters

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

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

See also: uint64_t CollisionCount() const

◆ CollisionByIndex() [2/2]

Collision* sdf::SDF_VERSION_NAMESPACE::Link::CollisionByIndex ( uint64_t _index )

Get a mutable collision based on an index.

Parameters

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

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

See also: uint64_t CollisionCount() const

◆ CollisionByName() [1/2]

Collision* sdf::SDF_VERSION_NAMESPACE::Link::CollisionByName ( const std::string & _name )

Get a mutable collision based on a name.

Parameters

[in] _name Name of the collision.

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

◆ CollisionByName() [2/2]

const Collision* sdf::SDF_VERSION_NAMESPACE::Link::CollisionByName ( const std::string & _name ) const

Get a collision based on a name.

Parameters

[in] _name Name of the collision.

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

◆ CollisionCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::Link::CollisionCount ( ) const

Get the number of collisions.

Returns: Number of collisions contained in this Link object.

◆ CollisionNameExists()

bool sdf::SDF_VERSION_NAMESPACE::Link::CollisionNameExists ( const std::string & _name ) const

Get whether a collision name exists.

Parameters

[in] _name Name of the collision to check.

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

◆ Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Link::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::SDF_VERSION_NAMESPACE::Link::EnableWind ( ) const

Check if this link should be subject to wind.

If true, this link should be affected by wind.

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

See also: bool Model::EnableWind

◆ Inertial()

const gz::math::Inertiald& sdf::SDF_VERSION_NAMESPACE::Link::Inertial ( ) const

Get the inertial value for this link.

The inertial object consists of the link's mass, a 3x3 rotational inertia matrix, and a pose for the inertial reference frame. The units for mass is kilograms with a default value of 1kg. The 3x3 rotational inertia matrix is symmetric and only 6 above-diagonal elements of this matrix are specified the Interial's gz::math::MassMatrix3 property.

The origin of the inertial reference frame needs to be at the center of mass expressed in this link's frame. The axes of the inertial reference frame do not need to be aligned with the principal axes of the inertia.

Returns: The link's inertial value.

See also: void SetInertial(const gz::math::Inertiald &_inertial)

◆ LightByIndex() [1/2]

const Light* sdf::SDF_VERSION_NAMESPACE::Link::LightByIndex ( const uint64_t _index ) const

Get a light based on an index.

Parameters

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

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

See also: uint64_t LightCount() const

◆ LightByIndex() [2/2]

Light* sdf::SDF_VERSION_NAMESPACE::Link::LightByIndex ( uint64_t _index )

Get a mutable light based on an index.

Parameters

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

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

See also: uint64_t LightCount() const

◆ LightByName() [1/2]

Light* sdf::SDF_VERSION_NAMESPACE::Link::LightByName ( const std::string & _name )

Get a mutable light based on a name.

Parameters

[in] _name Name of the light.

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

◆ LightByName() [2/2]

const Light* sdf::SDF_VERSION_NAMESPACE::Link::LightByName ( const std::string & _name ) const

Get a light based on a name.

Parameters

[in] _name Name of the light.

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

◆ LightCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::Link::LightCount ( ) const

Get the number of lights.

Returns: Number of lights contained in this Link object.

◆ LightNameExists()

bool sdf::SDF_VERSION_NAMESPACE::Link::LightNameExists ( const std::string & _name ) const

Get whether a light name exists.

Parameters

[in] _name Name of the light to check.

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

◆ Load() [1/2]

Errors sdf::SDF_VERSION_NAMESPACE::Link::Load ( ElementPtr _sdf )

Load the link 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::SDF_VERSION_NAMESPACE::Link::Load	(	ElementPtr	_sdf,
		const ParserConfig &	_config
	)

Load the link 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.

◆ Name()

std::string sdf::SDF_VERSION_NAMESPACE::Link::Name ( ) const

Get the name of the link.

The name of a link must be unique within the scope of a Model.

Returns: Name of the link.

◆ ParticleEmitterByIndex() [1/2]

const ParticleEmitter* sdf::SDF_VERSION_NAMESPACE::Link::ParticleEmitterByIndex ( const uint64_t _index ) const

Get a particle emitter based on an index.

Parameters

[in] _index Index of the particle emitter. The index should be in the range [0..ParticleEmitterCount()).

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

See also: uint64_t ParticleEmitterCount() const

◆ ParticleEmitterByIndex() [2/2]

ParticleEmitter* sdf::SDF_VERSION_NAMESPACE::Link::ParticleEmitterByIndex ( uint64_t _index )

Get a mutable particle emitter based on an index.

Parameters

[in] _index Index of the particle emitter. The index should be in the range [0..ParticleEmitterCount()).

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

See also: uint64_t ParticleEmitterCount() const

◆ ParticleEmitterByName() [1/2]

ParticleEmitter* sdf::SDF_VERSION_NAMESPACE::Link::ParticleEmitterByName ( const std::string & _name )

Get a mutable particle emitter based on a name.

Parameters

[in] _name Name of the particle emitter.

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

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

◆ ParticleEmitterByName() [2/2]

const ParticleEmitter* sdf::SDF_VERSION_NAMESPACE::Link::ParticleEmitterByName ( const std::string & _name ) const

Get a particle emitter based on a name.

Parameters

[in] _name Name of the particle emitter.

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

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

◆ ParticleEmitterCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::Link::ParticleEmitterCount ( ) const

Get the number of particle emitters.

Returns: Number of particle emitters contained in this Link object.

◆ ParticleEmitterNameExists()

bool sdf::SDF_VERSION_NAMESPACE::Link::ParticleEmitterNameExists ( const std::string & _name ) const

Get whether a particle emitter name exists.

Parameters

[in] _name Name of the particle emitter to check.

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

◆ PoseRelativeTo()

const std::string& sdf::SDF_VERSION_NAMESPACE::Link::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.

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

◆ RawPose()

const gz::math::Pose3d& sdf::SDF_VERSION_NAMESPACE::Link::RawPose ( ) const

Get the pose of the link.

This is the pose of the link as specified in SDF (<link> <pose> ... </pose></link>).

Returns: The pose of the link.

◆ ResolveInertial()

Errors sdf::SDF_VERSION_NAMESPACE::Link::ResolveInertial	(	gz::math::Inertiald &	_inertial,
		const std::string &	_resolveTo = `""`
	)		const

Resolve the Inertial to a specified frame.

If there are any errors resolving the Inertial, the output will not be modified.

Parameters

[out]	_inertial	The resolved Inertial.
[in]	_resolveTo	The Inertial will be resolved with respect to this frame. If unset or empty, the default resolve-to frame will be used.

Returns: Errors in resolving pose.

◆ SemanticPose()

sdf::SemanticPose sdf::SDF_VERSION_NAMESPACE::Link::SemanticPose ( ) const

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

Returns: SemanticPose object for this link.

◆ SensorByIndex() [1/2]

const Sensor* sdf::SDF_VERSION_NAMESPACE::Link::SensorByIndex ( const uint64_t _index ) const

Get a sensor based on an index.

Parameters

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

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

See also: uint64_t SensorCount() const

◆ SensorByIndex() [2/2]

Sensor* sdf::SDF_VERSION_NAMESPACE::Link::SensorByIndex ( uint64_t _index )

Get a mutable sensor based on an index.

Parameters

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

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

See also: uint64_t SensorCount() const

◆ SensorByName() [1/2]

Sensor* sdf::SDF_VERSION_NAMESPACE::Link::SensorByName ( const std::string & _name )

Get a mutable sensor based on a name.

Parameters

[in] _name Name of the sensor.

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

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

◆ SensorByName() [2/2]

const Sensor* sdf::SDF_VERSION_NAMESPACE::Link::SensorByName ( const std::string & _name ) const

Get a sensor based on a name.

Parameters

[in] _name Name of the sensor.

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

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

◆ SensorCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::Link::SensorCount ( ) const

Get the number of sensors.

Returns: Number of sensors contained in this Link object.

◆ SensorNameExists()

bool sdf::SDF_VERSION_NAMESPACE::Link::SensorNameExists ( const std::string & _name ) const

Get whether a sensor name exists.

Parameters

[in] _name Name of the sensor to check.

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

◆ SetEnableWind()

void sdf::SDF_VERSION_NAMESPACE::Link::SetEnableWind ( bool _enableWind )

Set whether this link should be subject to wind.

Parameters

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

See also: Model::SetEnableWind(bool)

◆ SetInertial()

bool sdf::SDF_VERSION_NAMESPACE::Link::SetInertial ( const gz::math::Inertiald & _inertial )

Set the inertial value for this link.

Parameters

[in] _inertial The link's inertial value.

Returns: True if the inertial is valid, false otherwise.

See also: const gz::math::Inertiald &Inertial() const

◆ SetName()

void sdf::SDF_VERSION_NAMESPACE::Link::SetName ( const std::string & _name )

Set the name of the link.

The name of a link must be unique within the scope of a Model.

Parameters

[in] _name Name of the link.

◆ SetPoseRelativeTo()

void sdf::SDF_VERSION_NAMESPACE::Link::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.

Parameters

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

◆ SetRawPose()

void sdf::SDF_VERSION_NAMESPACE::Link::SetRawPose ( const gz::math::Pose3d & _pose )

Set the pose of the link.

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

Parameters

[in] _pose The new link pose.

◆ ToElement()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Link::ToElement ( ) const

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

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

Returns: SDF element pointer with updated link values.

◆ VisualByIndex() [1/2]

const Visual* sdf::SDF_VERSION_NAMESPACE::Link::VisualByIndex ( const uint64_t _index ) const

Get a visual based on an index.

Parameters

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

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

See also: uint64_t VisualCount() const

◆ VisualByIndex() [2/2]

Visual* sdf::SDF_VERSION_NAMESPACE::Link::VisualByIndex ( uint64_t _index )

Get a mutable visual based on an index.

Parameters

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

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

See also: uint64_t VisualCount() const

◆ VisualByName() [1/2]

Visual* sdf::SDF_VERSION_NAMESPACE::Link::VisualByName ( const std::string & _name )

Get a mutable visual based on a name.

Parameters

[in] _name Name of the visual.

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

◆ VisualByName() [2/2]

const Visual* sdf::SDF_VERSION_NAMESPACE::Link::VisualByName ( const std::string & _name ) const

Get a visual based on a name.

Parameters

[in] _name Name of the visual.

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

◆ VisualCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::Link::VisualCount ( ) const

Get the number of visuals.

Returns: Number of visuals contained in this Link object.

◆ VisualNameExists()

bool sdf::SDF_VERSION_NAMESPACE::Link::VisualNameExists ( const std::string & _name ) const

Get whether a visual name exists.

Parameters

[in] _name Name of the visual to check.

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

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

Link.hh

Public Member Functions

Constructor & Destructor Documentation

◆ Link()

Member Function Documentation

◆ AddCollision()

◆ AddLight()

◆ AddParticleEmitter()

◆ AddSensor()

◆ AddVisual()

◆ ClearCollisions()

◆ ClearLights()

◆ ClearParticleEmitters()

◆ ClearSensors()

◆ ClearVisuals()

◆ CollisionByIndex() [1/2]

◆ CollisionByIndex() [2/2]

◆ CollisionByName() [1/2]

◆ CollisionByName() [2/2]

◆ CollisionCount()

◆ CollisionNameExists()

◆ Element()

◆ EnableWind()

◆ Inertial()

◆ LightByIndex() [1/2]

◆ LightByIndex() [2/2]

◆ LightByName() [1/2]

◆ LightByName() [2/2]

◆ LightCount()

◆ LightNameExists()

◆ Load() [1/2]

◆ Load() [2/2]

◆ Name()

◆ ParticleEmitterByIndex() [1/2]

◆ ParticleEmitterByIndex() [2/2]

◆ ParticleEmitterByName() [1/2]

◆ ParticleEmitterByName() [2/2]

◆ ParticleEmitterCount()

◆ ParticleEmitterNameExists()

◆ PoseRelativeTo()

◆ RawPose()

◆ ResolveInertial()

◆ SemanticPose()

◆ SensorByIndex() [1/2]

◆ SensorByIndex() [2/2]

◆ SensorByName() [1/2]

◆ SensorByName() [2/2]

◆ SensorCount()

◆ SensorNameExists()

◆ SetEnableWind()

◆ SetInertial()

◆ SetName()

◆ SetPoseRelativeTo()

◆ SetRawPose()

◆ ToElement()

◆ VisualByIndex() [1/2]

◆ VisualByIndex() [2/2]

◆ VisualByName() [1/2]

◆ VisualByName() [2/2]

◆ VisualCount()

◆ VisualNameExists()