SemanticPose.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_SEMANTIC_POSE_HH_
#define SDF_SEMANTIC_POSE_HH_

#include <memory>
#include <string>
#include <ignition/math/Pose3.hh>
#include <ignition/utils/ImplPtr.hh>

#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/sdf_config.h>
#include "sdf/system_util.hh"

#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif

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

  // Forward declare private data class.
  struct PoseRelativeToGraph;
  template <typename T> class ScopedGraph;

  class SDFORMAT_VISIBLE SemanticPose
  {
    public: const ignition::math::Pose3d &RawPose() const;

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

    public: Errors Resolve(ignition::math::Pose3d &_pose,
                           const std::string &_resolveTo = "") const;

    private: SemanticPose(
        const ignition::math::Pose3d &_pose,
        const std::string &_relativeTo,
        const std::string &_defaultResolveTo,
        const sdf::ScopedGraph<sdf::PoseRelativeToGraph> &_graph);

    private: SemanticPose(
        const std::string &_name,
        const ignition::math::Pose3d &_pose,
        const std::string &_relativeTo,
        const std::string &_defaultResolveTo,
        const sdf::ScopedGraph<sdf::PoseRelativeToGraph> &_graph);

    friend class Collision;
    friend class Frame;
    friend class Joint;
    friend class Light;
    friend class Link;
    friend class Model;
    friend class Sensor;
    friend class Visual;

    IGN_UTILS_IMPL_PTR(dataPtr)
  };
  }
}

#ifdef _WIN32
#pragma warning(pop)
#endif

#endif