17 #ifndef SDF_COLLISION_HH_
18 #define SDF_COLLISION_HH_
22 #include <ignition/math/Pose3.hh>
26 #include "sdf/sdf_config.h"
32 inline namespace SDF_VERSION_NAMESPACE {
35 class CollisionPrivate;
38 struct PoseRelativeToGraph;
81 public: std::string
Name()
const;
86 public:
void SetName(
const std::string &_name)
const;
109 public:
const ignition::math::Pose3d &
Pose() const
116 public:
void SetPose(const ignition::math::Pose3d &_pose)
123 public: const ignition::math::Pose3d &RawPose() const;
128 public:
void SetRawPose(const ignition::math::Pose3d &_pose);
134 public: const std::
string &PoseRelativeTo() const;
140 public:
void SetPoseRelativeTo(const std::
string &_frame);
147 public: const std::
string &PoseFrame() const
155 public:
void SetPoseFrame(const std::
string &_frame)
173 private:
void SetXmlParentName(const std::
string &_xmlParentName);
179 private:
void SetPoseRelativeToGraph(
180 std::weak_ptr<const PoseRelativeToGraph> _graph);
188 private: CollisionPrivate *dataPtr =
nullptr;
A collision element descibes the collision properties associated with a link.
Definition: Collision.hh:45
Errors Load(ElementPtr _sdf)
Load the collision based on a element pointer.
Collision(const Collision &_collision)
Copy constructor.
Collision(Collision &&_collision) noexcept
Move constructor.
void SetSurface(const sdf::Surface &_surface)
Set the collision's surface parameters.
Collision()
Default constructor.
const Geometry * Geom() const
Get a pointer to the collisions's geometry.
Collision & operator=(Collision &&_collision)
Move assignment operator.
void SetName(const std::string &_name) const
Set the name of the collision.
sdf::Surface * Surface() const
Get a pointer to the collisions's surface parameters.
std::string Name() const
Get the name of the collision.
Collision & operator=(const Collision &_collision)
Copy assignment operator.
void SetGeom(const Geometry &_geom)
Set the collision's geometry.
const ignition::math::Pose3d & Pose() const SDF_DEPRECATED(9.0)
Get the pose of the collision object.
SDF Element class.
Definition: Element.hh:70
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:70
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:54
Surface information for a collision.
Definition: Surface.hh:88
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