22 #include <ignition/math/Pose3.hh> 32 inline namespace SDF_VERSION_NAMESPACE {
38 struct PoseRelativeToGraph;
104 public:
Joint &operator=(
const Joint &_joint);
120 public:
const std::string &Name()
const;
125 public:
void SetName(
const std::string &_name);
133 public:
void SetType(
const JointType _jointType);
137 public:
const std::string &ParentLinkName()
const;
141 public:
void SetParentLinkName(
const std::string &_name);
145 public:
const std::string &ChildLinkName()
const;
149 public:
void SetChildLinkName(
const std::string &_name);
159 public:
const JointAxis *Axis(
const unsigned int _index = 0)
const;
167 public:
void SetAxis(
const unsigned int _index,
const JointAxis &_axis);
174 public:
const ignition::math::Pose3d &RawPose()
const;
179 public:
void SetRawPose(
const ignition::math::Pose3d &_pose);
185 public:
const std::string &PoseRelativeTo()
const;
191 public:
void SetPoseRelativeTo(
const std::string &_frame);
195 public:
double ThreadPitch()
const;
199 public:
void SetThreadPitch(
double _threadPitch);
214 public: uint64_t SensorCount()
const;
221 public:
const Sensor *SensorByIndex(
const uint64_t _index)
const;
226 public:
bool SensorNameExists(
const std::string &_name)
const;
233 public:
const Sensor *SensorByName(
const std::string &_name)
const;
239 private:
void SetPoseRelativeToGraph(
240 std::weak_ptr<const PoseRelativeToGraph> _graph);
246 private: JointPrivate *dataPtr =
nullptr;
A hinge joint that rotates on a single axis with a fixed range of motion.
A single degree of freedom joint with coupled sliding and rotational motion.
JointType
The set of joint types.
Definition: Joint.hh:44
A sliding joint that slides along an axis with a limited range specified by upper and lower limits...
Information about an SDF sensor.
Definition: Sensor.hh:121
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:53
A hinge joint that rotates on a single axis with a continuous range of motion.
A joint with zero degrees of freedom that rigidly connects two links.
Same as two revolute joints connected in series.
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:25
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
namespace for Simulation Description Format parser
Definition: Actor.hh:32
Similar to a ball joint, but constrains one degree of freedom.
Parameters related to the axis of rotation for rotational joints, and the axis of translation for pri...
Definition: JointAxis.hh:41
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:95