22 #include <ignition/math/Pose3.hh>
26 #include "sdf/sdf_config.h"
32 inline namespace SDF_VERSION_NAMESPACE {
42 struct PoseRelativeToGraph;
81 public: std::string
Name()
const;
86 public:
void SetName(
const std::string &_name)
const;
187 public:
const ignition::math::Inertiald &
Inertial()
const;
193 public:
bool SetInertial(
const ignition::math::Inertiald &_inertial);
199 public:
const ignition::math::Pose3d &
Pose() const
206 public:
void SetPose(const ignition::math::Pose3d &_pose)
212 public: const ignition::math::Pose3d &RawPose() const;
217 public:
void SetRawPose(const ignition::math::Pose3d &_pose);
223 public: const std::
string &PoseRelativeTo() const;
229 public:
void SetPoseRelativeTo(const std::
string &_frame);
236 public: const std::
string &PoseFrame() const
244 public:
void SetPoseFrame(const std::
string &_frame)
262 private:
void SetPoseRelativeToGraph(
263 std::weak_ptr<const PoseRelativeToGraph> _graph);
272 public:
bool EnableWind() const;
278 public:
void SetEnableWind(
bool _enableWind);
281 private: LinkPrivate *dataPtr =
nullptr;
Information about an SDF sensor.
Definition: Sensor.hh:122
A collision element descibes the collision properties associated with a link.
Definition: Collision.hh:45
SDF Element class.
Definition: Element.hh:74
Provides a description of a light source.
Definition: Light.hh:63
bool CollisionNameExists(const std::string &_name) const
Get whether a collision name exists.
const ignition::math::Inertiald & Inertial() const
Get the inertial value for this link.
uint64_t VisualCount() const
Get the number of visuals.
bool VisualNameExists(const std::string &_name) const
Get whether a visual name exists.
Link & operator=(Link &&_link)
Move assignment operator.
void SetName(const std::string &_name) const
Set the name of the link.
Link(const Link &_link)
Copy constructor.
const Light * LightByName(const std::string &_name) const
Get a light based on a name.
const Visual * VisualByIndex(const uint64_t _index) const
Get a visual based on an index.
Link()
Default constructor.
Errors Load(ElementPtr _sdf)
Load the link based on a element pointer.
const Visual * VisualByName(const std::string &_name) const
Get a visual based on a name.
uint64_t LightCount() const
Get the number of lights.
Link(Link &&_link) noexcept
Move constructor.
const Sensor * SensorByName(const std::string &_name) const
Get a sensor based on a name.
uint64_t SensorCount() const
Get the number of sensors.
std::string Name() const
Get the name of the link.
const Collision * CollisionByName(const std::string &_name) const
Get a collision based on a name.
const Light * LightByIndex(const uint64_t _index) const
Get a light based on an index.
const Collision * CollisionByIndex(const uint64_t _index) const
Get a collision based on an index.
bool SensorNameExists(const std::string &_name) const
Get whether a sensor name exists.
const Sensor * SensorByIndex(const uint64_t _index) const
Get a sensor based on an index.
Link & operator=(const Link &_link)
Copy assignment operator.
const ignition::math::Pose3d & Pose() const SDF_DEPRECATED(9.0)
Get the pose of the link.
uint64_t CollisionCount() const
Get the number of collisions.
bool LightNameExists(const std::string &_name) const
Get whether a light name exists.
bool SetInertial(const ignition::math::Inertiald &_inertial)
Set the inertial value for this link.
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