17 #ifndef SDF_COLLISION_HH_
18 #define SDF_COLLISION_HH_
22 #include <gz/math/Pose3.hh>
23 #include <gz/utils/ImplPtr.hh>
33 inline namespace SDF_VERSION_NAMESPACE {
38 struct PoseRelativeToGraph;
61 public: std::string
Name()
const;
66 public:
void SetName(
const std::string &_name);
88 public:
const gz::math::Pose3d &
RawPose()
const;
129 private:
void SetXmlParentName(
const std::string &_xmlParentName);
135 private:
void SetPoseRelativeToGraph(
144 IGN_UTILS_IMPL_PTR(dataPtr)
A collision element descibes the collision properties associated with a link.
Definition: Collision.hh:46
void SetRawPose(const gz::math::Pose3d &_pose)
Set the pose of the collision object.
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 SetSurface(const sdf::Surface &_surface)
Set the collision's surface parameters.
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.
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.
Collision()
Default constructor.
void SetGeom(const Geometry &_geom)
Set the collision's geometry.
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:84
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
Surface information for a collision.
Definition: Surface.hh:160
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
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