Element

struct Element

The base element of a scene.

The Element struct represents the base element of a scene, such as a robot, camera, or obstacle. It contains a name, pose, and tags that can be used to identify and categorize the element.

Subclassed by jacobi::Camera, jacobi::CartesianRegion, jacobi::CartesianWaypoint, jacobi::Obstacle, jacobi::Region, jacobi::Robot, jacobi::Waypoint

Public Functions

bool has_tag(const std::string &tag) const

Checks whether a tag is present on the element. Tags are case-insensitive.

Parameters:

tag – The tag to check for.

Returns:

bool True if the tag is present, false otherwise.

std::optional<std::string> get_parameter(const std::string &tag) const

Reads the value of a tag parameter param=value. Tags are case-insensitive.

Parameters:

tag – The tag to read the parameter from.

Returns:

std::optional<std::string> The value of the parameter if it exists, std::nullopt otherwise.

Public Members

std::string name

The unique name of the element, for display and identification.

Frame origin = {Frame::Identity()}

Pose of the element, relative to the parent. Is called “base” for robots in Studio.

std::vector<std::string> tags

Given tags of the element, might be with a parameter param=value.

bool is_dynamic = {true}

Whether the element is dynamically added or part of the loaded Studio project.