Collision.hh

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/*
 * Copyright 2018 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_COLLISION_HH_
#define SDF_COLLISION_HH_

#include <memory>
#include <string>
#include <ignition/math/Pose3.hh>
#include "sdf/Element.hh"
#include "sdf/SemanticPose.hh"
#include "sdf/Types.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"

namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
  // Forward declaration.
  class CollisionPrivate;
  class Geometry;
  class Surface;
  struct PoseRelativeToGraph;

  class SDFORMAT_VISIBLE Collision
  {
    public: Collision();

    public: Collision(const Collision &_collision);

    public: Collision(Collision &&_collision) noexcept;

    public: Collision &operator=(Collision &&_collision);

    public: Collision &operator=(const Collision &_collision);

    public: ~Collision();

    public: Errors Load(ElementPtr _sdf);

    public: std::string Name() const;

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

    public: const Geometry *Geom() const;

    public: void SetGeom(const Geometry &_geom);

    public: sdf::Surface *Surface() const;

    public: void SetSurface(const sdf::Surface &_surface);

    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: sdf::SemanticPose SemanticPose() const;

    public: sdf::ElementPtr Element() const;

    private: void SetXmlParentName(const std::string &_xmlParentName);

    private: void SetPoseRelativeToGraph(
        std::weak_ptr<const PoseRelativeToGraph> _graph);

    friend class Link;

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