22 #include <ignition/math/Vector3.hh> 23 #include <ignition/utils/ImplPtr.hh> 30 #include "sdf/sdf_config.h" 36 inline namespace SDF_VERSION_NAMESPACE {
48 struct PoseRelativeToGraph;
49 struct FrameAttachedToGraph;
50 template <
typename T>
class ScopedGraph;
78 public:
Errors ValidateGraphs()
const;
82 public: std::string Name()
const;
86 public:
void SetName(
const std::string &_name);
92 public: std::string AudioDevice()
const;
98 public:
void SetAudioDevice(
const std::string &_device);
104 public: ignition::math::Vector3d WindLinearVelocity()
const;
110 public:
void SetWindLinearVelocity(
const ignition::math::Vector3d &_wind);
117 public: ignition::math::Vector3d Gravity()
const;
122 public:
void SetGravity(
const ignition::math::Vector3d &_gravity);
130 public: ignition::math::Vector3d MagneticField()
const;
138 public:
void SetMagneticField(
const ignition::math::Vector3d &_mag);
145 public: uint64_t ModelCount()
const;
153 public:
const Model *ModelByIndex(
const uint64_t _index)
const;
162 public:
const Model *ModelByName(
const std::string &_name)
const;
169 public:
bool ModelNameExists(
const std::string &_name)
const;
173 public: uint64_t ActorCount()
const;
180 public:
const Actor *ActorByIndex(
const uint64_t _index)
const;
185 public:
bool ActorNameExists(
const std::string &_name)
const;
192 public: uint64_t FrameCount()
const;
201 public:
const Frame *FrameByIndex(
const uint64_t _index)
const;
209 public:
const Frame *FrameByName(
const std::string &_name)
const;
216 public:
bool FrameNameExists(
const std::string &_name)
const;
220 public: uint64_t LightCount()
const;
227 public:
const Light *LightByIndex(
const uint64_t _index)
const;
232 public:
bool LightNameExists(
const std::string &_name)
const;
238 public:
const sdf::Atmosphere *
Atmosphere()
const;
242 public:
void SetAtmosphere(
const sdf::Atmosphere &_atmosphere);
248 public:
const sdf::Gui *
Gui()
const;
252 public:
void SetGui(
const sdf::Gui &_gui);
258 public:
const sdf::Scene *
Scene()
const;
262 public:
void SetScene(
const sdf::Scene &_scene);
272 public: uint64_t PhysicsCount()
const;
280 public:
const Physics *PhysicsByIndex(
const uint64_t _index)
const;
284 public:
const Physics *PhysicsDefault()
const;
289 public:
bool PhysicsNameExists(
const std::string &_name)
const;
295 public: uint64_t InterfaceModelCount()
const;
303 public: std::shared_ptr<const InterfaceModel> InterfaceModelByIndex(
304 const uint64_t _index)
const;
313 public:
const NestedInclude* InterfaceModelNestedIncludeByIndex(
314 const uint64_t _index)
const;
320 private:
void SetPoseRelativeToGraph(
321 sdf::ScopedGraph<PoseRelativeToGraph> _graph);
327 private:
void SetFrameAttachedToGraph(
328 sdf::ScopedGraph<FrameAttachedToGraph> _graph);
335 IGN_UTILS_IMPL_PTR(dataPtr)
Provides a description of a light source.
Definition: Light.hh:63
Provides a description of an actor.
Definition: Actor.hh:190
The physics element specifies the type and properties of a dynamics engine.
Definition: Physics.hh:36
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition: Frame.hh:42
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
The Atmosphere class contains information about an atmospheric model and related parameters such as t...
Definition: Atmosphere.hh:45
Contains the necessary information about an included model file for custom model parsers to be able t...
Definition: InterfaceElements.hh:43
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:41
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
Root class that acts as an entry point to the SDF document model.
Definition: Root.hh:54
This class contains configuration options for the libsdformat parser.
Definition: ParserConfig.hh:84
namespace for Simulation Description Format parser
Definition: Actor.hh:33