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/*
* Copyright 2021 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef SDF_INTERFACE_FRAME_HH_
#define SDF_INTERFACE_FRAME_HH_
#include <string>
#include <ignition/math/Pose3.hh>
#include <ignition/utils/ImplPtr.hh>
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"
namespace sdf
{
inline namespace SDF_VERSION_NAMESPACE
{
/// \brief Interface element representing an explicit frame
class SDFORMAT_VISIBLE InterfaceFrame
{
/// \brief Constructor
/// \param[in] _name The *local* name.
/// \param[in] _attachedTo Name of the attached-to frame. This cannot be an
/// empty string. If the frame is attached to the model frame, this must be
/// "__model__" . The (implicit or explicit) frame must exist in the scope of
/// this frame.
/// \param[in] _pose The pose of the frame relative to the attached-to frame.
public: InterfaceFrame(const std::string &_name,
const std::string &_attachedTo, const ignition::math::Pose3d &_pose);
/// \brief Get the name of the frame.
/// \return Local name of the frame.
public: const std::string &Name() const;
/// \brief Get the name of the coordinate frame to which this frame is
/// attached.
/// \return The name of the attached-to frame.
public: const std::string &AttachedTo() const;
/// \brief Get the pose of this frame relative to the attached-to frame.
/// \return The pose of this frame in the attached-to frame.
public: const ignition::math::Pose3d &PoseInAttachedToFrame() const;
/// \brief Private data pointer.
IGN_UTILS_IMPL_PTR(dataPtr)
};
}
}
#endif
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