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34 lines
1.0 KiB
34 lines
1.0 KiB
#pragma once
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#include <string>
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#include "drake/math/rigid_transform.h"
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#include "drake/multibody/tree/multibody_tree_indexes.h"
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namespace drake {
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namespace multibody {
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namespace parsing {
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// TODO(#13074): Burn this in a dumpster fire pending real model
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// composition / extraction in Drake.
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// TODO(#14084): This structure might combine with the implementation of 14084:
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// https://github.com/RobotLocomotion/drake/issues/14084#issuecomment-694394869
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/// Convenience structure to hold all of the information to add a model
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/// instance from a file.
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struct ModelInstanceInfo {
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/// Model name (possibly scoped).
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std::string model_name;
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/// File path.
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std::string model_path;
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/// WARNING: This is the *unscoped* parent frame, assumed to be unique.
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std::string parent_frame_name;
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/// This is the unscoped frame name belonging to `model_instance`.
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std::string child_frame_name;
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drake::math::RigidTransformd X_PC;
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drake::multibody::ModelInstanceIndex model_instance;
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};
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} // namespace parsing
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} // namespace multibody
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} // namespace drake
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