Collision.hh
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17 #ifndef SDF_COLLISION_HH_
18 #define SDF_COLLISION_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <gz/math/Pose3.hh>
23 #include <gz/math/Vector3.hh>
24 #include <gz/math/Inertial.hh>
25 #include <gz/utils/ImplPtr.hh>
26 #include "sdf/Element.hh"
27 #include "sdf/SemanticPose.hh"
28 #include "sdf/Types.hh"
29 #include "sdf/sdf_config.h"
30 #include "sdf/system_util.hh"
31 #include "sdf/ParserConfig.hh"
32 
33 namespace sdf
34 {
35  // Inline bracket to help doxygen filtering.
36  inline namespace SDF_VERSION_NAMESPACE {
37  //
38  // Forward declaration.
39  class Geometry;
40  class ParserConfig;
41  class Surface;
42  struct PoseRelativeToGraph;
43  template <typename T> class ScopedGraph;
44 
50  {
52  public: Collision();
53 
60  public: Errors Load(ElementPtr _sdf);
61 
69  public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
70 
74  public: std::string Name() const;
75 
79  public: void SetName(const std::string &_name);
80 
83  public: double Density() const;
84 
87  public: void SetDensity(double _density);
88 
94 
99  public: void SetAutoInertiaParams(const sdf::ElementPtr _autoInertiaParams);
100 
103  public: const Geometry *Geom() const;
104 
107  public: void SetGeom(const Geometry &_geom);
108 
111  public: const sdf::Surface *Surface() const;
112 
115  public: void SetSurface(const sdf::Surface &_surface);
116 
121  public: const gz::math::Pose3d &RawPose() const;
122 
126  public: void SetRawPose(const gz::math::Pose3d &_pose);
127 
132  public: const std::string &PoseRelativeTo() const;
133 
138  public: void SetPoseRelativeTo(const std::string &_frame);
139 
144 
151  public: void CalculateInertial(sdf::Errors &_errors,
152  gz::math::Inertiald &_inertial,
153  const ParserConfig &_config);
154 
159  public: sdf::ElementPtr Element() const;
160 
166  public: sdf::ElementPtr ToElement() const;
167 
174  public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
175 
180  private: void SetXmlParentName(const std::string &_xmlParentName);
181 
186  private: void SetPoseRelativeToGraph(
188 
192  friend class Link;
193 
195  GZ_UTILS_IMPL_PTR(dataPtr)
196  };
197  }
198 }
199 #endif
A collision element descibes the collision properties associated with a link.
Definition: Collision.hh:50
void SetRawPose(const gz::math::Pose3d &_pose)
Set the pose of the collision object.
sdf::ElementPtr AutoInertiaParams() const
Get the ElementPtr to the <auto_inertia_params> element This element can be used as a parent element ...
const Geometry * Geom() const
Get a pointer to the collisions's geometry.
const gz::math::Pose3d & RawPose() const
Get the pose of the collision object.
void CalculateInertial(sdf::Errors &_errors, gz::math::Inertiald &_inertial, const ParserConfig &_config)
Calculate and return the MassMatrix for the collision.
void SetSurface(const sdf::Surface &_surface)
Set the collision's surface parameters.
double Density() const
Get the density of the collision.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
const std::string & PoseRelativeTo() const
Get the name of the coordinate frame relative to which this object's pose is expressed.
void SetAutoInertiaParams(const sdf::ElementPtr _autoInertiaParams)
Function to set the auto inertia params using a sdf ElementPtr object.
Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config)
Load the collision based on a element pointer.
const sdf::Surface * Surface() const
Get a pointer to the collisions's surface parameters.
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this collision.
Errors Load(ElementPtr _sdf)
Load the collision based on a element pointer.
std::string Name() const
Get the name of the collision.
void SetDensity(double _density)
Set the density of the collision.
void SetGeom(const Geometry &_geom)
Set the collision's geometry.
sdf::ElementPtr ToElement(sdf::Errors &_errors) const
Create and return an SDF element filled with data from this collision.
sdf::SemanticPose SemanticPose() const
Get SemanticPose object of this object to aid in resolving poses.
void SetPoseRelativeTo(const std::string &_frame)
Set the name of the coordinate frame relative to which this object's pose is expressed.
void SetName(const std::string &_name)
Set the name of the collision.
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:89
This class contains configuration options for the libsdformat parser.
Definition: ParserConfig.hh:100
Definition: Collision.hh:43
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:55
Surface information for a collision.
Definition: Surface.hh:160
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:95
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:55
namespace for Simulation Description Format parser
Definition: Actor.hh:35
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:25