22 #include <ignition/math/Pose3.hh>
26 #include "sdf/sdf_config.h"
32 inline namespace SDF_VERSION_NAMESPACE {
38 struct PoseRelativeToGraph;
119 public:
const std::string &
Name()
const;
124 public:
void SetName(
const std::string &_name);
174 public:
const ignition::math::Pose3d &
Pose() const
181 public:
void SetPose(const ignition::math::Pose3d &_pose)
189 public: const ignition::math::Pose3d &RawPose() const;
194 public:
void SetRawPose(const ignition::math::Pose3d &_pose);
200 public: const std::
string &PoseRelativeTo() const;
206 public:
void SetPoseRelativeTo(const std::
string &_frame);
213 public: const std::
string &PoseFrame() const
221 public:
void SetPoseFrame(const std::
string &_frame)
226 public:
double ThreadPitch() const;
230 public:
void SetThreadPitch(
double _threadPitch);
247 private:
void SetPoseRelativeToGraph(
248 std::weak_ptr<const PoseRelativeToGraph> _graph);
254 private: JointPrivate *dataPtr =
nullptr;
SDF Element class.
Definition: Element.hh:74
Parameters related to the axis of rotation for rotational joints, and the axis of translation for pri...
Definition: JointAxis.hh:41
const std::string & ParentLinkName() const
Get the name of this joint's parent link.
const std::string & ChildLinkName() const
Get the name of this joint's child link.
Joint & operator=(const Joint &_joint)
Copy assignment operator.
Joint()
Default constructor.
const JointAxis * Axis(const unsigned int _index=0) const
Get a joint axis.
void SetType(const JointType _jointType)
Set the joint type.
void SetName(const std::string &_name)
Set the name of the joint.
Joint & operator=(Joint &&_joint)
Move assignment operator.
Joint(const Joint &_joint)
Copy constructor.
void SetChildLinkName(const std::string &_name)
Set the name of the child link.
Errors Load(ElementPtr _sdf)
Load the joint based on a element pointer.
const std::string & Name() const
Get the name of the joint.
void SetParentLinkName(const std::string &_name)
Set the name of the parent link.
Joint(Joint &&_joint) noexcept
Move constructor.
const ignition::math::Pose3d & Pose() const SDF_DEPRECATED(9.0)
Get the pose of the joint.
JointType Type() const
Get the joint type.
void SetAxis(const unsigned int _index, const JointAxis &_axis)
Set a joint axis.
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
JointType
The set of joint types.
Definition: Joint.hh:44
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