Frame.hh
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17 #ifndef SDF_FRAME_HH_
18 #define SDF_FRAME_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <ignition/math/Pose3.hh>
23 #include "sdf/Element.hh"
24 #include "sdf/SemanticPose.hh"
25 #include "sdf/Types.hh"
26 #include "sdf/sdf_config.h"
27 #include "sdf/system_util.hh"
28 
29 namespace sdf
30 {
31  // Inline bracket to help doxygen filtering.
32  inline namespace SDF_VERSION_NAMESPACE {
33  //
34  // Forward declaration.
35  class FramePrivate;
36  struct FrameAttachedToGraph;
37  struct PoseRelativeToGraph;
38 
42  {
44  public: Frame();
45 
48  public: Frame(const Frame &_frame);
49 
52  public: Frame(Frame &&_frame);
53 
55  public: ~Frame();
56 
60  public: Frame &operator=(Frame &&_frame);
61 
65  public: Frame &operator=(const Frame &_frame);
66 
73  public: Errors Load(ElementPtr _sdf);
74 
78  public: const std::string &Name() const;
79 
83  public: void SetName(const std::string &_name) const;
84 
93  public: const std::string &AttachedTo() const;
94 
103  public: void SetAttachedTo(const std::string &_frame);
104 
110  public: const ignition::math::Pose3d &RawPose() const;
111 
116  public: void SetRawPose(const ignition::math::Pose3d &_pose);
117 
122  public: const std::string &PoseRelativeTo() const;
123 
128  public: void SetPoseRelativeTo(const std::string &_frame);
129 
133  public: sdf::ElementPtr Element() const;
134 
141  public: Errors ResolveAttachedToBody(std::string &_body) const;
142 
147 
152  private: void SetFrameAttachedToGraph(
153  std::weak_ptr<const FrameAttachedToGraph> _graph);
154 
159  private: void SetPoseRelativeToGraph(
160  std::weak_ptr<const PoseRelativeToGraph> _graph);
161 
163  friend class Model;
164  friend class World;
165 
167  private: FramePrivate *dataPtr = nullptr;
168  };
169  }
170 }
171 #endif
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition: Frame.hh:42
Frame()
Default constructor.
void SetAttachedTo(const std::string &_frame)
Set the name of the coordinate frame to which this frame is attached.
const ignition::math::Pose3d & RawPose() const
Get the pose of the frame object.
void SetRawPose(const ignition::math::Pose3d &_pose)
Set the raw pose of the frame object.
const std::string & AttachedTo() const
Get the name of the coordinate frame to which this frame is attached.
void SetPoseRelativeTo(const std::string &_frame)
Set the name of the coordinate frame relative to which this frame's pose is expressed.
~Frame()
Destructor.
const std::string & PoseRelativeTo() const
Get the name of the coordinate frame relative to which this frame's pose is expressed.
Frame & operator=(const Frame &_frame)
Assignment operator.
const std::string & Name() const
Get the name of the frame.
Errors Load(ElementPtr _sdf)
Load the frame based on a element pointer.
Frame & operator=(Frame &&_frame)
Move assignment operator.
void SetName(const std::string &_name) const
Set the name of the frame.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
Frame(const Frame &_frame)
Copy constructor.
Frame(Frame &&_frame)
Move constructor.
Errors ResolveAttachedToBody(std::string &_body) const
Resolve the attached-to body of this frame from the FrameAttachedToGraph.
sdf::SemanticPose SemanticPose() const
Get SemanticPose object of this object to aid in resolving poses.
Definition: Model.hh:44
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:54
Definition: World.hh:46
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