23 #include <ignition/math/Pose3.hh>
27 #include "sdf/sdf_config.h"
33 inline namespace SDF_VERSION_NAMESPACE {
41 struct PoseRelativeToGraph;
80 public: std::string
Name()
const;
85 public:
void SetName(
const std::string &_name);
231 public:
const ignition::math::Pose3d &
Pose() const
238 public:
void SetPose(const ignition::math::Pose3d &_pose)
246 public: const ignition::math::Pose3d &RawPose() const;
251 public:
void SetRawPose(const ignition::math::Pose3d &_pose);
255 public: const
Link *CanonicalLink() const;
261 public: const std::
string &CanonicalLinkName() const;
267 public:
void SetCanonicalLinkName(const std::
string &_canonicalLink);
273 public: const std::
string &PoseRelativeTo() const;
279 public:
void SetPoseRelativeTo(const std::
string &_frame);
286 public: const std::
string &PoseFrame() const
294 public:
void SetPoseFrame(const std::
string &_frame)
313 private:
sdf::
Errors SetPoseRelativeToGraph(
314 std::weak_ptr<const PoseRelativeToGraph> _graph);
320 private: std::pair<const
Link *, std::
string> CanonicalLinkAndRelativeName()
328 friend std::pair<const
Link *, std::
string>
329 modelCanonicalLinkAndRelativeName(const
Model *);
332 private: ModelPrivate *dataPtr =
nullptr;
SDF Element class.
Definition: Element.hh:70
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition: Frame.hh:42
void SetStatic(bool _static)
Set this model to be static or not static.
const Frame * FrameByIndex(const uint64_t _index) const
Get an explicit frame based on an index.
void SetSelfCollide(bool _selfCollide)
Set this model to self-collide or not self-collide.
Model()
Default constructor.
Model & operator=(Model &&_model)
Move assignment operator.
const Joint * JointByIndex(const uint64_t _index) const
Get a joint based on an index.
const Link * LinkByName(const std::string &_name) const
Get a link based on a name.
uint64_t FrameCount() const
Get the number of explicit frames.
bool Static() const
Check if this model should be static.
const Frame * FrameByName(const std::string &_name) const
Get an explicit frame based on a name.
const Joint * JointByName(const std::string &_name) const
Get a joint based on a name.
uint64_t ModelCount() const
Get the number of nested models.
Model(Model &&_model) noexcept
Move constructor.
void SetAllowAutoDisable(bool _allowAutoDisable)
Set this model to allow auto-disabling.
bool FrameNameExists(const std::string &_name) const
Get whether an explicit frame name exists.
void SetName(const std::string &_name)
Set the name of the model.
bool AllowAutoDisable() const
Check if this model should be allowed to auto-disable.
Errors Load(ElementPtr _sdf)
Load the model based on a element pointer.
bool LinkNameExists(const std::string &_name) const
Get whether a link name exists.
bool ModelNameExists(const std::string &_name) const
Get whether a nested model name exists.
bool SelfCollide() const
Check if this model should self-collide.
const Model * ModelByIndex(const uint64_t _index) const
Get a nested model based on an index.
Model & operator=(const Model &_model)
Copy assignment operator.
const ignition::math::Pose3d & Pose() const SDF_DEPRECATED(9.0)
Get the pose of the model.
bool JointNameExists(const std::string &_name) const
Get whether a joint name exists.
const Model * ModelByName(const std::string &_name) const
Get a nested model based on a name.
void SetEnableWind(bool _enableWind)
Set whether this model should be subject to wind.
uint64_t JointCount() const
Get the number of joints.
Model(const Model &_model)
Copy constructor.
const Link * LinkByIndex(const uint64_t _index) const
Get a link based on an index.
std::string Name() const
Get the name of the model.
uint64_t LinkCount() const
Get the number of links.
bool EnableWind() const
Check if this model should be subject to wind.
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:54
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