22 #include <ignition/math/Pose3.hh> 23 #include <ignition/utils/ImplPtr.hh> 27 #include "sdf/sdf_config.h" 33 inline namespace SDF_VERSION_NAMESPACE {
39 class ParticleEmitter;
42 struct PoseRelativeToGraph;
43 template <
typename T>
class ScopedGraph;
61 public: std::string Name()
const;
66 public:
void SetName(
const std::string &_name);
70 public: uint64_t VisualCount()
const;
77 public:
const Visual *VisualByIndex(
const uint64_t _index)
const;
82 public:
bool VisualNameExists(
const std::string &_name)
const;
87 public:
const Visual *VisualByName(
const std::string &_name)
const;
91 public: uint64_t CollisionCount()
const;
98 public:
const Collision *CollisionByIndex(
const uint64_t _index)
const;
103 public:
bool CollisionNameExists(
const std::string &_name)
const;
108 public:
const Collision *CollisionByName(
const std::string &_name)
const;
112 public: uint64_t LightCount()
const;
119 public:
const Light *LightByIndex(
const uint64_t _index)
const;
124 public:
bool LightNameExists(
const std::string &_name)
const;
129 public:
const Light *LightByName(
const std::string &_name)
const;
133 public: uint64_t SensorCount()
const;
140 public:
const Sensor *SensorByIndex(
const uint64_t _index)
const;
145 public:
bool SensorNameExists(
const std::string &_name)
const;
152 public:
const Sensor *SensorByName(
const std::string &_name)
const;
156 public: uint64_t ParticleEmitterCount()
const;
165 const uint64_t _index)
const;
170 public:
bool ParticleEmitterNameExists(
const std::string &_name)
const;
178 const std::string &_name)
const;
193 public:
const ignition::math::Inertiald &Inertial()
const;
199 public:
bool SetInertial(
const ignition::math::Inertiald &_inertial);
204 public:
const ignition::math::Pose3d &RawPose()
const;
209 public:
void SetRawPose(
const ignition::math::Pose3d &_pose);
215 public:
const std::string &PoseRelativeTo()
const;
221 public:
void SetPoseRelativeTo(
const std::string &_frame);
237 private:
void SetPoseRelativeToGraph(
238 sdf::ScopedGraph<PoseRelativeToGraph> _graph);
247 public:
bool EnableWind()
const;
253 public:
void SetEnableWind(
bool _enableWind);
256 IGN_UTILS_IMPL_PTR(dataPtr)
Provides a description of a light source.
Definition: Light.hh:63
Information about an SDF sensor.
Definition: Sensor.hh:123
A description of a particle emitter, which can be attached to a link.
Definition: ParticleEmitter.hh:60
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:41
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
A collision element descibes the collision properties associated with a link.
Definition: Collision.hh:45
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:54
namespace for Simulation Description Format parser
Definition: Actor.hh:33