24 #include "sdf/sdf_config.h"
30 inline namespace SDF_VERSION_NAMESPACE {
165 private: RootPrivate *dataPtr =
nullptr;
Provides a description of an actor.
Definition: Actor.hh:278
Provides a description of a light source.
Definition: Light.hh:63
Root class that acts as an entry point to the SDF document model.
Definition: Root.hh:55
const World * WorldByIndex(const uint64_t _index) const
Get a world based on an index.
std::string Version() const
Get the SDF version specified in the parsed file or SDF pointer.
Errors LoadSdfString(const std::string &_sdf)
Parse the given SDF string, and generate objects based on types specified in the SDF file.
Errors Load(const std::string &_filename)
Parse the given SDF file, and generate objects based on types specified in the SDF file.
uint64_t ModelCount() const
Get the number of models.
uint64_t ActorCount() const
Get the number of actors.
void SetVersion(const std::string &_version)
Set the SDF version string.
Root()
Default constructor.
uint64_t WorldCount() const
Get the number of worlds.
bool LightNameExists(const std::string &_name) const
Get whether a light name exists.
Errors Load(const SDFPtr _sdf)
Parse the given SDF pointer, and generate objects based on types specified in the SDF file.
const Actor * ActorByIndex(const uint64_t _index) const
Get an actor based on an index.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was generated during load.
uint64_t LightCount() const
Get the number of lights.
bool WorldNameExists(const std::string &_name) const
Get whether a world name exists.
const Model * ModelByIndex(const uint64_t _index) const
Get a model based on an index.
bool ActorNameExists(const std::string &_name) const
Get whether an actor name exists.
bool ModelNameExists(const std::string &_name) const
Get whether a model name exists.
const Light * LightByIndex(const uint64_t _index) const
Get a light based on an index.
std::shared_ptr< SDF > SDFPtr
Definition: SDFImpl.hh:50
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
namespace for Simulation Description Format parser
Definition: Actor.hh:33
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:48