link.h

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#ifndef INCLUDE_TINYURDF_CORE_LINK_H_
#define INCLUDE_TINYURDF_CORE_LINK_H_
 
// Copyright 2025 Wissem CHIHA
 
#include <loguru/loguru.hpp>
 
#include "common/geometry_base.h"
#include "common/object_base.h"
#include "core/collision.h"
#include "core/inertia.h"
#include "core/material.h"
#include "core/pose.h"
#include "core/visual.h"
 
class Link : public ObjectBase
{
 public:
  Link();
  bool isA(const char* name) const override;
  void getOrigin(double* pos) const;
  void setVisualOrigin(std::shared_ptr<Pose> o);
  void setCollisionOrigin(std::shared_ptr<Pose> o);
  void clear() override;
  std::string toString() const override;
  bool empty() const override;
  const char* getTypename() const override;
  void setName(const std::string& name);
  std::string getName() const;
  void setInertia(const std::shared_ptr<Inertia> i);
  std::shared_ptr<Inertia> getInertia() const;
  void setVisual(const std::shared_ptr<Visual> v);
  std::shared_ptr<Visual> getVisual() const;
  void setMaterial(const std::shared_ptr<Material> m);
  std::shared_ptr<Material> getMaterial() const;
  void setCollision(const std::shared_ptr<Collision> c);
  void setCollisionGeometry(const std::shared_ptr<GeometryBase> g);
  void setVisualGeometry(const std::shared_ptr<GeometryBase> g);
  std::shared_ptr<Collision> getCollision() const;
  ~Link();
 
 private:
  std::string name;
  std::shared_ptr<Inertia> inertial;
  std::shared_ptr<Visual> visual;
  std::shared_ptr<Collision> collision;
  std::shared_ptr<Material> material;
};
#endif  // TINYURDF_LINK_H