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/*
* Copyright 2019 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_SEMANTIC_POSE_HH_
#define SDF_SEMANTIC_POSE_HH_
#include <memory>
#include <string>
#include <ignition/math/Pose3.hh>
#include <ignition/utils/ImplPtr.hh>
#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/sdf_config.h>
#include "sdf/system_util.hh"
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
namespace sdf
{
// Inline bracket to help doxygen filtering.
inline namespace SDF_VERSION_NAMESPACE {
//
// Forward declare private data class.
struct PoseRelativeToGraph;
template <typename T> class ScopedGraph;
/// \brief SemanticPose is a data structure that can be used by different
/// DOM objects to resolve poses on a PoseRelativeToGraph. This object holds
/// a Pose3 object, the name of the frame relative to which it is defined,
/// a pointer to a PoseRelativeToGraph, and a default frame to resolve to.
/// The name of the default frame to resolve to must not be empty.
/// This class only has a private constructor, and may only be accessed from
/// its friend DOM classes.
class SDFORMAT_VISIBLE SemanticPose
{
/// \brief Get the raw Pose3 transform.
/// \return The raw Pose3 transform.
public: const ignition::math::Pose3d &RawPose() const;
/// \brief Get the name of the coordinate frame relative to which this
/// object's pose is expressed. An empty value indicates that the frame is
/// relative to the default parent object.
/// \return The name of the pose relative-to frame.
public: const std::string &RelativeTo() const;
/// \brief Resolve pose of this object with respect to another named frame.
/// If there are any errors resolving the pose, the output will not be
/// modified.
/// \param[out] _pose The resolved pose.
/// \param[in] _resolveTo The pose will be resolved with respect to this
/// frame. If unset or empty, the default resolve-to frame will be used.
/// \return Errors in resolving pose.
public: Errors Resolve(ignition::math::Pose3d &_pose,
const std::string &_resolveTo = "") const;
/// \brief Private constructor.
/// \param[in] _pose Raw pose of object.
/// \param[in] _relativeTo Name of frame in graph relative-to which the
/// raw pose is applied.
/// \param[in] _defaultResolveTo Default frame to resolve-to in Resolve()
/// if no frame is specified.
/// \param[in] _graph A scoped PoseRelativeToGraph object.
private: SemanticPose(
const ignition::math::Pose3d &_pose,
const std::string &_relativeTo,
const std::string &_defaultResolveTo,
const sdf::ScopedGraph<sdf::PoseRelativeToGraph> &_graph);
/// \brief Private constructor that is used by object that represent a frame
/// in the PoseRelativeTo graph. Examples are Model, Frame, Link and not
/// Collision or Visual.
/// \param[in] _name Name of object. This should also be the name of the
/// frame represented by this object in the PoseRelativeTo graph.
/// \param[in] _pose Raw pose of object.
/// \param[in] _relativeTo Name of frame in graph relative-to which the
/// raw pose is applied.
/// \param[in] _defaultResolveTo Default frame to resolve-to in Resolve()
/// if no frame is specified.
/// \param[in] _graph A scoped PoseRelativeToGraph object.
private: SemanticPose(
const std::string &_name,
const ignition::math::Pose3d &_pose,
const std::string &_relativeTo,
const std::string &_defaultResolveTo,
const sdf::ScopedGraph<sdf::PoseRelativeToGraph> &_graph);
friend class Collision;
friend class Frame;
friend class Joint;
friend class Light;
friend class Link;
friend class ParticleEmitter;
friend class Model;
friend class Sensor;
friend class Visual;
/// \brief Private data pointer.
IGN_UTILS_IMPL_PTR(dataPtr)
};
}
}
#ifdef _WIN32
#pragma warning(pop)
#endif
#endif
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