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17 #ifndef SDF_SEMANTIC_POSE_HH_
18 #define SDF_SEMANTIC_POSE_HH_
22 #include <ignition/math/Pose3.hh>
26 #include <sdf/sdf_config.h>
33 #pragma warning(disable: 4251)
39 inline namespace SDF_VERSION_NAMESPACE {
43 class SemanticPosePrivate;
44 struct PoseRelativeToGraph;
57 public:
const ignition::math::Pose3d &
RawPose()
const;
73 const std::string &_resolveTo =
"")
const;
83 const ignition::math::Pose3d &_pose,
84 const std::string &_relativeTo,
85 const std::string &_defaultResolveTo,
86 std::weak_ptr<const sdf::PoseRelativeToGraph> _graph);
119 private: std::unique_ptr<SemanticPosePrivate> dataPtr;
const std::string & RelativeTo() const
Get the name of the coordinate frame relative to which this object's pose is expressed.
Errors Resolve(ignition::math::Pose3d &_pose, const std::string &_resolveTo="") const
Resolve pose of this object with respect to another named frame.
namespace for Simulation Description Format parser
Definition: Actor.hh:33
SemanticPose & operator=(SemanticPose &&_semanticPose)
Move assignment operator.
SemanticPose(SemanticPose &&_semanticPose) noexcept
Move constructor.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
SemanticPose(const SemanticPose &_semanticPose)
Copy constructor.
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
A collision element descibes the collision properties associated with a link.
Definition: Collision.hh:45
Provides a description of a light source.
Definition: Light.hh:63
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition: Frame.hh:42
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:54
SemanticPose & operator=(const SemanticPose &_semanticPose)
Copy assignment operator.
const ignition::math::Pose3d & RawPose() const
Get the raw Pose3 transform.
~SemanticPose()
Destructor.
Information about an SDF sensor.
Definition: Sensor.hh:117