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| 1 | +/* |
| 2 | + * Copyright (C) 2022 Open Source Robotics Foundation |
| 3 | + * |
| 4 | + * Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | + * you may not use this file except in compliance with the License. |
| 6 | + * You may obtain a copy of the License at |
| 7 | + * |
| 8 | + * http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | + * |
| 10 | + * Unless required by applicable law or agreed to in writing, software |
| 11 | + * distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | + * See the License for the specific language governing permissions and |
| 14 | + * limitations under the License. |
| 15 | + * |
| 16 | +*/ |
| 17 | + |
| 18 | +#ifndef SDF_USD_USD_PARSER_USDTRANSFORMS_HH_ |
| 19 | +#define SDF_USD_USD_PARSER_USDTRANSFORMS_HH_ |
| 20 | + |
| 21 | +#include <string> |
| 22 | +#include <vector> |
| 23 | + |
| 24 | +#include <ignition/math/Pose3.hh> |
| 25 | +#include <ignition/math/Quaternion.hh> |
| 26 | +#include <ignition/math/Vector3.hh> |
| 27 | + |
| 28 | +#include <ignition/utils/ImplPtr.hh> |
| 29 | + |
| 30 | +// TODO(ahcorde) this is to remove deprecated "warnings" in usd, these warnings |
| 31 | +// are reported using #pragma message so normal diagnostic flags cannot remove |
| 32 | +// them. This workaround requires this block to be used whenever usd is |
| 33 | +// included. |
| 34 | +#pragma push_macro ("__DEPRECATED") |
| 35 | +#undef __DEPRECATED |
| 36 | +#include <pxr/usd/usdGeom/gprim.h> |
| 37 | +#pragma pop_macro ("__DEPRECATED") |
| 38 | + |
| 39 | +#include "sdf/sdf_config.h" |
| 40 | +#include "sdf/system_util.hh" |
| 41 | +#include "sdf/usd/Export.hh" |
| 42 | +#include "sdf/usd/UsdError.hh" |
| 43 | +#include "USDData.hh" |
| 44 | + |
| 45 | +namespace sdf |
| 46 | +{ |
| 47 | + // Inline bracket to help doxygen filtering. |
| 48 | + inline namespace SDF_VERSION_NAMESPACE { |
| 49 | + // |
| 50 | + namespace usd |
| 51 | + { |
| 52 | + /// \brief This class stores the transforms of a schema |
| 53 | + /// This might contain scale, translate or rotation operations |
| 54 | + /// The booleans are used to check if there is a transform defined |
| 55 | + /// in the schema |
| 56 | + class IGNITION_SDFORMAT_USD_VISIBLE UDSTransforms |
| 57 | + { |
| 58 | + /// \brief Default constructor |
| 59 | + public: UDSTransforms(); |
| 60 | + |
| 61 | + /// \brief Translate |
| 62 | + /// \return A 3D vector with the translation |
| 63 | + public: const ignition::math::Vector3d Translation() const; |
| 64 | + |
| 65 | + /// \brief Scale |
| 66 | + /// \return A 3D vector with the scale |
| 67 | + public: const ignition::math::Vector3d Scale() const; |
| 68 | + |
| 69 | + /// \brief Get the Rotation |
| 70 | + /// \return Return The rotation, if one exists. If no rotation exists, |
| 71 | + /// std::nullopt is returned |
| 72 | + public: const std::optional<ignition::math::Quaterniond> Rotation() const; |
| 73 | + |
| 74 | + /// \brief Set translate |
| 75 | + /// \param[in] _translate Translate to set |
| 76 | + public: void SetTranslation(const ignition::math::Vector3d &_translate); |
| 77 | + |
| 78 | + /// \brief Set scale |
| 79 | + /// \param[in] _scale Scale to set |
| 80 | + public: void SetScale(const ignition::math::Vector3d &_scale); |
| 81 | + |
| 82 | + /// \brief Set rotation |
| 83 | + /// \param[in] _q Quaternion that defines the rotation |
| 84 | + public: void SetRotation(const ignition::math::Quaterniond &_q); |
| 85 | + |
| 86 | + /// \brief Private data pointer. |
| 87 | + IGN_UTILS_IMPL_PTR(dataPtr) |
| 88 | + }; |
| 89 | + |
| 90 | + /// \brief This function gets the transform from a prim to the specified |
| 91 | + /// _schemaToStop variable |
| 92 | + /// \param[in] _prim Initial prim to read the transform |
| 93 | + /// \param[in] _usdData USDData structure to get info about the prim, for |
| 94 | + /// example: metersperunit |
| 95 | + /// \param[out] _pose Pose of the prim. From _prim to _schemaToStop. |
| 96 | + /// \param[out] _scale The scale of the prim |
| 97 | + /// \param[in] _schemaToStop Name of the prim where the loop will stop |
| 98 | + /// reading transforms |
| 99 | + void IGNITION_SDFORMAT_USD_VISIBLE GetTransform( |
| 100 | + const pxr::UsdPrim &_prim, |
| 101 | + const USDData &_usdData, |
| 102 | + ignition::math::Pose3d &_pose, |
| 103 | + ignition::math::Vector3d &_scale, |
| 104 | + const std::string &_schemaToStop); |
| 105 | + |
| 106 | + /// \brief Read the usd prim transforms. Scale, rotation or transform might |
| 107 | + /// be defined as float or doubles |
| 108 | + /// \param[in] _prim Prim where the transforms are read |
| 109 | + /// \return A USDTransforms class with all the transforms related to |
| 110 | + /// the prim |
| 111 | + UDSTransforms IGNITION_SDFORMAT_USD_VISIBLE ParseUSDTransform( |
| 112 | + const pxr::UsdPrim &_prim); |
| 113 | +} |
| 114 | +} |
| 115 | +} |
| 116 | +#endif |
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