22#include <ignition/math/Pose3.hh>
23#include <ignition/utils/ImplPtr.hh>
27#include "sdf/sdf_config.h"
33 inline namespace SDF_VERSION_NAMESPACE {
38 struct FrameAttachedToGraph;
39 struct PoseRelativeToGraph;
40 template <
typename T>
class ScopedGraph;
101 public:
const std::string &
Name()
const;
106 public:
void SetName(
const std::string &_name);
167 public:
const ignition::math::Pose3d &
RawPose()
const;
172 public:
void SetRawPose(
const ignition::math::Pose3d &_pose);
237 private:
void SetFrameAttachedToGraph(
243 private:
void SetPoseRelativeToGraph(
250 IGN_UTILS_IMPL_PTR(dataPtr)
Parameters related to the axis of rotation for rotational joints, and the axis of translation for pri...
Definition: JointAxis.hh:43
Errors ResolveChildLink(std::string &_link) const
Resolve the name of the child link from the FrameAttachedToGraph.
JointType Type() const
Get the joint type.
void SetThreadPitch(double _threadPitch)
Set the thread pitch (only valid for screw joints)
Errors ResolveParentLink(std::string &_link) const
Resolve the name of the parent link from the FrameAttachedToGraph.
void SetAxis(const unsigned int _index, const JointAxis &_axis)
Set a joint axis.
void SetRawPose(const ignition::math::Pose3d &_pose)
Set the pose of the joint.
const ignition::math::Pose3d & RawPose() const
Get the pose of the joint.
const std::string & ParentLinkName() const
Get the name of this joint's parent link.
void SetChildLinkName(const std::string &_name)
Set the name of the child link.
const Sensor * SensorByName(const std::string &_name) const
Get a sensor based on a name.
void SetParentLinkName(const std::string &_name)
Set the name of the parent link.
void SetName(const std::string &_name)
Set the name of the joint.
Joint()
Default constructor.
Errors Load(ElementPtr _sdf)
Load the joint based on a element pointer.
sdf::SemanticPose SemanticPose() const
Get SemanticPose object of this object to aid in resolving poses.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
void SetPoseRelativeTo(const std::string &_frame)
Set the name of the coordinate frame relative to which this object's pose is expressed.
const std::string & Name() const
Get the name of the joint.
const JointAxis * Axis(const unsigned int _index=0) const
Get a joint axis.
const std::string & PoseRelativeTo() const
Get the name of the coordinate frame relative to which this object's pose is expressed.
uint64_t SensorCount() const
Get the number of sensors.
const std::string & ChildLinkName() const
Get the name of this joint's child link.
const Sensor * SensorByIndex(const uint64_t _index) const
Get a sensor based on an index.
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this joint.
double ThreadPitch() const
Get the thread pitch (only valid for screw joints)
bool SensorNameExists(const std::string &_name) const
Get whether a sensor name exists.
void SetType(const JointType _jointType)
Set the joint type.
Definition: Collision.hh:39
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:55
Information about an SDF sensor.
Definition: Sensor.hh:136
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
JointType
The set of joint types.
Definition: Joint.hh:47
namespace for Simulation Description Format parser
Definition: Actor.hh:34
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:41