Mesh.hh
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17 #ifndef SDF_MESH_HH_
18 #define SDF_MESH_HH_
19 
20 #include <string>
21 #include <optional>
22 
23 #include <gz/math/Vector3.hh>
24 #include <gz/math/Inertial.hh>
25 #include <gz/utils/ImplPtr.hh>
27 #include <sdf/Element.hh>
28 #include <sdf/Error.hh>
29 #include <sdf/sdf_config.h>
30 
31 namespace sdf
32 {
33  // Inline bracket to help doxygen filtering.
34  inline namespace SDF_VERSION_NAMESPACE {
35  //
36 
37  // Forward declarations.
38  class ParserConfig;
39 
43  {
45  public: Mesh();
46 
53  public: Errors Load(ElementPtr _sdf);
54 
62  public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
63 
66  public: std::string Uri() const;
67 
70  public: void SetUri(const std::string &_uri);
71 
74  public: const std::string &FilePath() const;
75 
78  public: void SetFilePath(const std::string &_filePath);
79 
82  public: gz::math::Vector3d Scale() const;
83 
86  public: void SetScale(const gz::math::Vector3d &_scale);
87 
92  public: std::string Submesh() const;
93 
97  public: void SetSubmesh(const std::string &_submesh);
98 
104  public: bool CenterSubmesh() const;
105 
109  public: void SetCenterSubmesh(const bool _center);
110 
119  public: std::optional<gz::math::Inertiald>
121  double _density,
122  const sdf::ElementPtr _autoInertiaParams,
123  const ParserConfig &_config);
124 
128  public: sdf::ElementPtr Element() const;
129 
135  public: sdf::ElementPtr ToElement() const;
136 
143  public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
144 
146  GZ_UTILS_IMPL_PTR(dataPtr)
147  };
148  }
149 }
150 #endif
Mesh represents a mesh shape, and is usually accessed through a Geometry.
Definition: Mesh.hh:43
void SetFilePath(const std::string &_filePath)
Set the path to the file where this element was loaded from.
Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config)
Load the mesh geometry based on a element pointer.
Errors Load(ElementPtr _sdf)
Load the mesh geometry based on a element pointer.
std::string Submesh() const
A submesh, contained with the mesh at the specified URI, may optionally be specified.
void SetUri(const std::string &_uri)
Set the mesh's URI.
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this mesh.
bool CenterSubmesh() const
Get whether the submesh should be centered at 0,0,0.
std::optional< gz::math::Inertiald > CalculateInertial(sdf::Errors &_errors, double _density, const sdf::ElementPtr _autoInertiaParams, const ParserConfig &_config)
Calculate and return the Inertial values for the Mesh.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
const std::string & FilePath() const
The path to the file where this element was loaded from.
void SetSubmesh(const std::string &_submesh)
Set the mesh's submesh.
void SetCenterSubmesh(const bool _center)
Set whether the submesh should be centered.
void SetScale(const gz::math::Vector3d &_scale)
Set the mesh's scale factor.
std::string Uri() const
Get the mesh's URI.
sdf::ElementPtr ToElement(sdf::Errors &_errors) const
Create and return an SDF element filled with data from this mesh.
gz::math::Vector3d Scale() const
Get the mesh's scale factor.
This class contains configuration options for the libsdformat parser.
Definition: ParserConfig.hh:100
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