23 #include <ignition/math/Pose3.hh>
29 #include "sdf/sdf_config.h"
35 inline namespace SDF_VERSION_NAMESPACE {
39 class AnimationPrivate;
42 class WaypointPrivate;
45 class TrajectoryPrivate;
87 public:
const std::string &
Name()
const;
91 public:
void SetName(
const std::string &_name);
130 private: AnimationPrivate *dataPtr =
nullptr;
178 public: ignition::math::Pose3d
Pose()
const;
182 public:
void SetPose(
const ignition::math::Pose3d &_pose);
189 private: WaypointPrivate *dataPtr =
nullptr;
229 public: uint64_t
Id()
const;
237 public:
const std::string &
Type()
const;
242 public:
void SetType(
const std::string &_type);
272 private: TrajectoryPrivate *dataPtr =
nullptr;
317 public: std::string &
Name()
const;
321 public:
void SetName(
const std::string &_name);
329 public:
const ignition::math::Pose3d &
Pose() const
336 public:
void SetPose(const ignition::math::Pose3d &_pose)
344 public: const ignition::math::Pose3d &RawPose() const;
349 public:
void SetRawPose(const ignition::math::Pose3d &_pose);
355 public: const std::
string &PoseRelativeTo() const;
361 public:
void SetPoseRelativeTo(const std::
string &_frame);
368 public: const std::
string &PoseFrame() const
376 public:
void SetPoseFrame(const std::
string &_frame)
381 public: const std::
string &FilePath() const;
385 public:
void SetFilePath(const std::
string &_filePath);
389 public: const std::
string &SkinFilename() const;
393 public:
void SetSkinFilename(std::
string _skinFilename);
397 public:
double SkinScale() const;
401 public:
void SetSkinScale(
double _skinScale);
405 public: uint64_t AnimationCount() const;
412 public: const
Animation *AnimationByIndex(uint64_t _index) const;
417 public:
bool AnimationNameExists(const std::
string &_name) const;
425 public:
bool ScriptLoop() const;
430 public:
void SetScriptLoop(
bool _scriptLoop);
434 public:
double ScriptDelayStart() const;
438 public:
void SetScriptDelayStart(
double _scriptDelayStart);
442 public:
bool ScriptAutoStart() const;
447 public:
void SetScriptAutoStart(
bool _scriptAutoStart);
451 public: uint64_t TrajectoryCount() const;
458 public: const
Trajectory *TrajectoryByIndex(uint64_t _index) const;
463 public:
bool TrajectoryIdExists(uint64_t _id) const;
471 public: uint64_t LinkCount() const;
478 public: const
Link *LinkByIndex(uint64_t _index) const;
483 public:
bool LinkNameExists(const std::
string &_name) const;
487 public: uint64_t JointCount() const;
494 public: const
Joint *JointByIndex(uint64_t _index) const;
499 public:
bool JointNameExists(const std::
string &_name) const;
508 private: ActorPrivate *dataPtr =
nullptr;
Provides a description of an actor.
Definition: Actor.hh:278
Actor(Actor &&_actor) noexcept
Move constructor.
const ignition::math::Pose3d & Pose() const SDF_DEPRECATED(9.0)
Get the pose of the actor.
Actor & operator=(const Actor &_actor)
Assignment operator.
void CopyFrom(const Actor &_actor)
Copy dataPtr from an actor instance.
std::string & Name() const
Get the name of the actor.
Errors Load(ElementPtr _sdf)
Load the actor based on a element pointer.
Actor(const Actor &_actor)
Copy constructor.
void SetName(const std::string &_name)
Set the name of the actor.
Actor()
Default constructor.
Actor & operator=(Actor &&_actor)
Move assignment operator.
Animation in Actor.
Definition: Actor.hh:52
Animation(Animation &&_animation) noexcept
Move constructor.
Animation()
Default constructor.
const std::string & FilePath() const
The path to the file where this element was loaded from.
const std::string & Filename() const
Get the animation filename.
void SetInterpolateX(bool _interpolateX)
Set whether the animation is interpolated on X.
void CopyFrom(const Animation &_animation)
Copy animation from an Animation instance.
Errors Load(ElementPtr _sdf)
Load the animation based on a element pointer.
void SetFilename(const std::string &_filename)
Set the filename of the animation.
Animation(const Animation &_animation)
Copy constructor.
Animation & operator=(Animation &&_animation)
Move assignment operator.
bool InterpolateX() const
Get whether the animation is interpolated on X.
void SetFilePath(const std::string &_filePath)
Set the path to the file where this element was loaded from.
void SetScale(double _scale)
Set the scale of the animation skeleton.
Animation & operator=(const Animation &_animation)
Assignment operator.
const std::string & Name() const
Get the name of the animation.
double Scale() const
Get the scale for the animation skeleton.
void SetName(const std::string &_name)
Set the name of the animation.
SDF Element class.
Definition: Element.hh:70
Trajectory for Animation.
Definition: Actor.hh:194
Trajectory & operator=(const Trajectory &_trajectory)
Assignment operator.
void SetType(const std::string &_type)
Set the animation type of the trajectory.
Trajectory(const Trajectory &_trajectory)
Copy constructor.
const std::string & Type() const
Get the type of the trajectory.
void CopyFrom(const Trajectory &_trajectory)
Copy trajectory from a trajectory instance.
uint64_t Id() const
Get the unique id of the trajectory.
const Waypoint * WaypointByIndex(uint64_t _index) const
Get a waypoint based on an index.
double Tension() const
Get the tension of the trajectory spline.
void SetId(uint64_t _id)
Set the ID of the trajectory.
Trajectory()
Default constructor.
void SetTension(double _tension)
Set the tension of trajectory spline.
Errors Load(ElementPtr _sdf)
Load the trajectory based on a element pointer.
uint64_t WaypointCount() const
Get the number of waypoints.
Trajectory(Trajectory &&_trajectory) noexcept
Move constructor.
Trajectory & operator=(Trajectory &&_trajectory)
Move assignment operator.
void AddWaypoint(const Waypoint &_waypoint)
Add a new waypoint.
Waypoint for Trajectory.
Definition: Actor.hh:135
Errors Load(ElementPtr _sdf)
Load the waypoint based on a element pointer.
Waypoint()
Default constructor.
void SetPose(const ignition::math::Pose3d &_pose)
Set the pose to be reached.
double Time() const
Get the time in seconds when the pose should be reached.
void SetTime(double _time)
Set the time in seconds when the pose should be reached.
Waypoint(Waypoint &&_waypoint) noexcept
Move constructor.
Waypoint(const Waypoint &_waypoint)
Copy constructor.
Waypoint & operator=(const Waypoint &_waypoint)
Assignment operator.
ignition::math::Pose3d Pose() const
Get the pose to be reached.
Waypoint & operator=(Waypoint &&_waypoint)
Move assignment operator.
void CopyFrom(const Waypoint &_waypoint)
Copy waypoint from an Waypoint instance.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
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