1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
|
/*
* 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_JOINT_HH_
#define SDF_INTERFACE_JOINT_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 a Joint
class SDFORMAT_VISIBLE InterfaceJoint
{
/// \brief Constructor
/// \param[in] name The *local* name.
/// \param[in] _childName Name of the child link or frame.
/// \param[in] _pose The pose of the joint relative to the child frame.
public: InterfaceJoint(const std::string &_name,
const std::string &_childName, const ignition::math::Pose3d &_pose);
/// \brief Get the name of the joint.
/// \return Local name of the joint.
public: const std::string &Name() const;
/// \brief Get the name of the joint's child.
/// \return The name of the joint's child link or frame.
public: const std::string &ChildName() const;
/// \brief Get the pose of this joint in the child frame.
/// \return The pose of this joint in the child frame.
public: const ignition::math::Pose3d &PoseInChildFrame() const;
/// \brief Private data pointer.
IGN_UTILS_IMPL_PTR(dataPtr)
};
}
}
#endif
|
