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/*
* Copyright 2018 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_COLLISION_HH_
#define SDF_COLLISION_HH_
#include <memory>
#include <string>
#include <ignition/math/Pose3.hh>
#include "sdf/Element.hh"
#include "sdf/SemanticPose.hh"
#include "sdf/Types.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"
namespace sdf
{
// Inline bracket to help doxygen filtering.
inline namespace SDF_VERSION_NAMESPACE {
//
// Forward declaration.
class CollisionPrivate;
class Geometry;
class Surface;
struct PoseRelativeToGraph;
/// \brief A collision element descibes the collision properties associated
/// with a link. This can be different from the visual properties of a link.
/// For example, simple collision models are often used to reduce
/// computation time.
class SDFORMAT_VISIBLE Collision
{
/// \brief Default constructor
public: Collision();
/// \brief Copy constructor
/// \param[in] _collision Collision to copy.
public: Collision(const Collision &_collision);
/// \brief Move constructor
/// \param[in] _collision Collision to move.
public: Collision(Collision &&_collision) noexcept;
/// \brief Move assignment operator.
/// \param[in] _collision Collision to move.
/// \return Reference to this.
public: Collision &operator=(Collision &&_collision);
/// \brief Copy assignment operator.
/// \param[in] _collision Collision to copy.
/// \return Reference to this.
public: Collision &operator=(const Collision &_collision);
/// \brief Destructor
public: ~Collision();
/// \brief Load the collision based on a element pointer. This is *not* the
/// usual entry point. Typical usage of the SDF DOM is through the Root
/// object.
/// \param[in] _sdf The SDF Element pointer
/// \return Errors, which is a vector of Error objects. Each Error includes
/// an error code and message. An empty vector indicates no error.
public: Errors Load(ElementPtr _sdf);
/// \brief Get the name of the collision.
/// The name of the collision must be unique within the scope of a Link.
/// \return Name of the collision.
public: std::string Name() const;
/// \brief Set the name of the collision.
/// The name of the collision must be unique within the scope of a Link.
/// \param[in] _name Name of the collision.
public: void SetName(const std::string &_name) const;
/// \brief Get a pointer to the collisions's geometry.
/// \return The collision's geometry.
public: const Geometry *Geom() const;
/// \brief Set the collision's geometry
/// \param[in] _geom The geometry of the collision object
public: void SetGeom(const Geometry &_geom);
/// \brief Get a pointer to the collisions's surface parameters.
/// \return The collision's surface parameters.
public: sdf::Surface *Surface() const;
/// \brief Set the collision's surface parameters
/// \param[in] _surface The surface parameters of the collision object
public: void SetSurface(const sdf::Surface &_surface);
/// \brief Get the pose of the collision object. This is the pose of the
/// collision as specified in SDF
/// (<collision><pose> ... </pose></collision>).
/// \return The pose of the collision object.
/// \deprecated See RawPose.
public: const ignition::math::Pose3d &Pose() const
SDF_DEPRECATED(9.0);
/// \brief Set the pose of the collision object.
/// \sa const ignition::math::Pose3d &Pose() const
/// \param[in] _pose The pose of the collision object.
/// \deprecated See SetRawPose.
public: void SetPose(const ignition::math::Pose3d &_pose)
SDF_DEPRECATED(9.0);
/// \brief Get the pose of the collision object. This is the pose of the
/// collison as specified in SDF
/// (<collision><pose> ... </pose></collision>).
/// \return The pose of the collision object.
public: const ignition::math::Pose3d &RawPose() const;
/// \brief Set the pose of the collision object.
/// \sa const ignition::math::Pose3d &RawPose() const
/// \param[in] _pose The pose of the collision object.
public: void SetRawPose(const ignition::math::Pose3d &_pose);
/// \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 parent link.
/// \return The name of the pose relative-to frame.
public: const std::string &PoseRelativeTo() const;
/// \brief Set 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 parent link.
/// \param[in] _frame The name of the pose relative-to frame.
public: void SetPoseRelativeTo(const std::string &_frame);
/// \brief Get the name of the coordinate frame in which this collision
/// object's pose is expressed. A empty value indicates that the frame is
/// the parent link.
/// \return The name of the pose frame.
/// \deprecated See PoseRelativeTo.
public: const std::string &PoseFrame() const
SDF_DEPRECATED(9.0);
/// \brief Set the name of the coordinate frame in which this collision
/// object's pose is expressed. A empty value indicates that the frame is
/// the parent link.
/// \param[in] _frame The name of the pose frame.
/// \deprecated See SetPoseRelativeTo.
public: void SetPoseFrame(const std::string &_frame)
SDF_DEPRECATED(9.0);
/// \brief Get SemanticPose object of this object to aid in resolving
/// poses.
/// \return SemanticPose object for this link.
public: sdf::SemanticPose SemanticPose() const;
/// \brief Get a pointer to the SDF element that was used during
/// load.
/// \return SDF element pointer. The value will be nullptr if Load has
/// not been called.
public: sdf::ElementPtr Element() const;
/// \brief Give the name of the xml parent of this object, to be used
/// for resolving poses. This is private and is intended to be called by
/// Link::SetPoseRelativeToGraph.
/// \param[in] _xmlParentName Name of xml parent object.
private: void SetXmlParentName(const std::string &_xmlParentName);
/// \brief Give a weak pointer to the PoseRelativeToGraph to be used
/// for resolving poses. This is private and is intended to be called by
/// Link::SetPoseRelativeToGraph.
/// \param[in] _graph Weak pointer to PoseRelativeToGraph.
private: void SetPoseRelativeToGraph(
std::weak_ptr<const PoseRelativeToGraph> _graph);
/// \brief Allow Link::SetPoseRelativeToGraph to call SetXmlParentName
/// and SetPoseRelativeToGraph, but Link::SetPoseRelativeToGraph is
/// a private function, so we need to befriend the entire class.
friend class Link;
/// \brief Private data pointer.
private: CollisionPrivate *dataPtr = nullptr;
};
}
}
#endif
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