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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_MODEL_POSE_GRAPH
#define SDF_INTERFACE_MODEL_POSE_GRAPH
#include <string>
#include <memory>
#include <vector>
#include <ignition/math/Pose3.hh>
#include <ignition/utils/ImplPtr.hh>
#include "sdf/Types.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"
namespace sdf
{
inline namespace SDF_VERSION_NAMESPACE
{
// Forward declarations.
class InterfaceModel;
struct PoseRelativeToGraph;
template <typename T>
class ScopedGraph;
/// \brief Class used in reposture callbacks of custom parsers to resolve poses.
class SDFORMAT_VISIBLE InterfaceModelPoseGraph
{
/// \brief Resolve pose relative to world
/// \param[out] _pose Resolved pose
/// \return Errors
public: sdf::Errors ResolveNestedModelFramePoseInWorldFrame(
ignition::math::Pose3d &_pose) const;
/// \brief Resolve the pose a frame within the model's scope.
/// \param[in] relative_to Can be "world", or any frame within the nested
/// model's frame graph. (It cannot reach outside of this model).
public: sdf::Errors ResolveNestedFramePose(ignition::math::Pose3d &_pose,
const std::string &_frameName,
const std::string &_relativeTo = "world") const;
/// \brief Private constructor
/// \param[in] _name Interface model associated with this object
/// \param[in] _graph Pose relative-to graph at the scope of the interface
/// model associated with this object.
private: InterfaceModelPoseGraph(const std::string &_name,
const sdf::ScopedGraph<sdf::PoseRelativeToGraph> &_graph);
friend class InterfaceModel;
/// \brief Private data pointer.
IGN_UTILS_IMPL_PTR(dataPtr)
};
}
}
#endif
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