Actor.hh

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/*
 * Copyright 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef SDF_ACTOR_HH_
#define SDF_ACTOR_HH_

#include <memory>
#include <string>

#include <ignition/math/Pose3.hh>

#include "sdf/Element.hh"
#include "sdf/Types.hh"
#include "sdf/Link.hh"
#include "sdf/Joint.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"

namespace sdf
{
  // Inline bracke to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //

  // Forward declare private data class.
  class AnimationPrivate;

  // Forward declare private data class.
  class WaypointPrivate;

  // Forward declare private data class.
  class TrajectoryPrivate;

  // Forward declare private data class.
  class ActorPrivate;

  class SDFORMAT_VISIBLE Animation
  {
    public: Animation();

    public: Animation(const Animation &_animation);

    public: Animation(Animation &&_animation) noexcept;

    public: ~Animation();

    public: Animation &operator=(Animation &&_animation);

    public: Animation &operator=(const Animation &_animation);

    public: Errors Load(ElementPtr _sdf);

    public: const std::string &Name() const;

    public: void SetName(const std::string &_name);

    public: const std::string &Filename() const;

    public: void SetFilename(const std::string &_filename);

    public: const std::string &FilePath() const;

    public: void SetFilePath(const std::string &_filePath);

    public: double Scale() const;

    public: void SetScale(double _scale);

    public: bool InterpolateX() const;

    public: void SetInterpolateX(bool _interpolateX);

    public: void CopyFrom(const Animation &_animation);

    private: AnimationPrivate *dataPtr = nullptr;
  };

  class SDFORMAT_VISIBLE Waypoint
  {
    public: Waypoint();

    public: Waypoint(const Waypoint &_waypoint);

    public: Waypoint(Waypoint &&_waypoint) noexcept;

    public: ~Waypoint();

    public: Waypoint &operator=(Waypoint &&_waypoint);

    public: Waypoint &operator=(const Waypoint &_waypoint);

    public: Errors Load(ElementPtr _sdf);

    public: double Time() const;

    public: void SetTime(double _time);

    public: ignition::math::Pose3d Pose() const;

    public: void SetPose(const ignition::math::Pose3d &_pose);

    public: void CopyFrom(const Waypoint &_waypoint);

    private: WaypointPrivate *dataPtr = nullptr;
  };

  class SDFORMAT_VISIBLE Trajectory
  {
    public: Trajectory();

    public: Trajectory(const Trajectory &_trajectory);

    public: Trajectory(Trajectory &&_trajectory) noexcept;

    public: ~Trajectory();

    public: Trajectory &operator=(Trajectory &&_trajectory);

    public: Trajectory &operator=(const Trajectory &_trajectory);

    public: Errors Load(ElementPtr _sdf);

    public: uint64_t Id() const;

    public: void SetId(uint64_t _id);

    public: const std::string &Type() const;

    public: void SetType(const std::string &_type);

    public: double Tension() const;

    public: void SetTension(double _tension);

    public: uint64_t WaypointCount() const;

    public: const Waypoint *WaypointByIndex(uint64_t _index) const;

    public: void AddWaypoint(const Waypoint &_waypoint);

    public: void CopyFrom(const Trajectory &_trajectory);

    private: TrajectoryPrivate *dataPtr = nullptr;
  };


  class SDFORMAT_VISIBLE Actor
  {
    public: Actor();

    public: Actor(const Actor &_actor);

    public: Actor(Actor &&_actor) noexcept;

    public: ~Actor();

    public: Actor &operator=(Actor &&_actor);

    public: Actor &operator=(const Actor &_actor);

    public: void CopyFrom(const Actor &_actor);

    public: Errors Load(ElementPtr _sdf);

    public: std::string &Name() const;

    public: void SetName(const std::string &_name);

    public: const ignition::math::Pose3d &Pose() const
        SDF_DEPRECATED(9.0);

    public: void SetPose(const ignition::math::Pose3d &_pose)
        SDF_DEPRECATED(9.0);

    public: const ignition::math::Pose3d &RawPose() const;

    public: void SetRawPose(const ignition::math::Pose3d &_pose);

    public: const std::string &PoseRelativeTo() const;

    public: void SetPoseRelativeTo(const std::string &_frame);

    public: const std::string &PoseFrame() const
        SDF_DEPRECATED(9.0);

    public: void SetPoseFrame(const std::string &_frame)
        SDF_DEPRECATED(9.0);

    public: const std::string &FilePath() const;

    public: void SetFilePath(const std::string &_filePath);

    public: const std::string &SkinFilename() const;

    public: void SetSkinFilename(std::string _skinFilename);

    public: double SkinScale() const;

    public: void SetSkinScale(double _skinScale);

    public: uint64_t AnimationCount() const;

    public: const Animation *AnimationByIndex(uint64_t _index) const;

    public: bool AnimationNameExists(const std::string &_name) const;

    public: void AddAnimation(const Animation &_anim);

    public: bool ScriptLoop() const;

    public: void SetScriptLoop(bool _scriptLoop);

    public: double ScriptDelayStart() const;

    public: void SetScriptDelayStart(double _scriptDelayStart);

    public: bool ScriptAutoStart() const;

    public: void SetScriptAutoStart(bool _scriptAutoStart);

    public: uint64_t TrajectoryCount() const;

    public: const Trajectory *TrajectoryByIndex(uint64_t _index) const;

    public: bool TrajectoryIdExists(uint64_t _id) const;

    public: void AddTrajectory(const Trajectory &_traj);

    public: uint64_t LinkCount() const;

    public: const Link *LinkByIndex(uint64_t _index) const;

    public: bool LinkNameExists(const std::string &_name) const;

    public: uint64_t JointCount() const;

    public: const Joint *JointByIndex(uint64_t _index) const;

    public: bool JointNameExists(const std::string &_name) const;

    public: sdf::ElementPtr Element() const;

    private: ActorPrivate *dataPtr = nullptr;
  };
  }
}
#endif