Allow "drilling down" into nested model frames (#381)

* Expect nested_explicit_canonical_link.sdf is valid Split nested_invalid_explicit_canonical_link.sdf into nested_explicit_canonical_link.sdf and nested_without_links_invalid.sdf and update UNIT_ign_TEST and an integration test. Signed-off-by: Steve Peters <[email protected]> * Support :: syntax in *NameExists and *ByName APIs This extends the `Model::*NameExists` and `Model::*ByName` APIs (like LinkNameExists and LinkByName) that allow passing nested names that can begin with a sequence of nested model names separated by :: and may end with the name of an object of the specified type, such as "outer_model::inner_model::inner_joint". For now, if a nested model is not found that matches the nested name preceding the final ::, then it checks for objects in the current model that match the entire name. This extra check should be disabled when "::" is reserved and not allowed in frame names. Signed-off-by: Steve Peters <[email protected]> * Changelog and Migration guide Signed-off-by: Steve Peters <[email protected]> * Ensure CanonicalLink pointer is valid Signed-off-by: Steve Peters <[email protected]> * Add ScopedGraph header Signed-off-by: Addisu Z. Taddese <[email protected]> * Frame attached to tests passing Signed-off-by: Addisu Z. Taddese <[email protected]> * FrameSemantics_TEST passing Signed-off-by: Addisu Z. Taddese <[email protected]> * Pass ChildScope with new scope name Signed-off-by: Addisu Z. Taddese <[email protected]> * Add command line tool to generate graph Signed-off-by: Addisu Z. Taddese <[email protected]> * Avoid using the RawPose of the DOM object when the object is a frame (implicit or explicit) Instead use the edges in the pose graph. This allows us to update only the pose graph when handling placement frames. Signed-off-by: Addisu Z. Taddese <[email protected]> * Handle placement frames with new PoseRelativeTo construction scheme The PoseRelativeTo used to be constructed in each nested model's Load funcition. Now, it's only constructed at the outer most model. Because of this decoupling and Since the model is `const` when the graph is constructed, placement frames are handled differently. Instead of updating the raw pose of the model, the edge connecting the model frame to it's relative_to frame is modified to take into account the placement frame. Signed-off-by: Addisu Z. Taddese <[email protected]> * Add __root__ scope The __root__ vertex is the root node of both world and model PoseRelativeTo graphs. It corresponds to the `<sdf>` tag in SDFormat files. Having this node makes it possible to keep the a model's pose and (possibly accounting for placement_frame) information in the edge from the _root__ vertex to the model vertex. Signed-off-by: Addisu Z. Taddese <[email protected]> * Revert changes in loadUniqueRepeated Signed-off-by: Addisu Z. Taddese <[email protected]> * Make ScopedGraph use pointer semantics Signed-off-by: Addisu Z. Taddese <[email protected]> * Cleanup Signed-off-by: Addisu Z. Taddese <[email protected]> * Remove `__root__` scope name The `__root__` vertex still exits, but has either a `__model__` scope or a `world` scope. Signed-off-by: Addisu Z. Taddese <[email protected]> * SemanticPose::Resolve and JointAxis::ResolveXyz to a SemanticPose object to set the scope Signed-off-by: Addisu Z. Taddese <[email protected]> * Add missing file Signed-off-by: Addisu Z. Taddese <[email protected]> * Remove aliasing edges, there is no need for them. Also remove updateGraphPose Signed-off-by: Addisu Z. Taddese <[email protected]> * Refactor Signed-off-by: Addisu Z. Taddese <[email protected]> * Cleanup Signed-off-by: Addisu Z. Taddese <[email protected]> * Add Resolve function that takes DOM objects Signed-off-by: Addisu Z. Taddese <[email protected]> * Add test for placement attribute with nested link Signed-off-by: Addisu Z. Taddese <[email protected]> * Codecheck Signed-off-by: Addisu Z. Taddese <[email protected]> * Fix macOS build error Signed-off-by: Addisu Z. Taddese <[email protected]> * Add nested model pose relative_to test Signed-off-by: Addisu Z. Taddese <[email protected]> * Add nested model frame attached_to test Signed-off-by: Addisu Z. Taddese <[email protected]> * Add test for joints that reference entities in nested models Signed-off-by: Addisu Z. Taddese <[email protected]> * Add API documentation for ScopedGraph, refactor Signed-off-by: Addisu Z. Taddese <[email protected]> * Add test for placement_frame element that references nested frames Signed-off-by: Addisu Z. Taddese <[email protected]> * Add test for empty models that contain a nested static model Signed-off-by: Addisu Z. Taddese <[email protected]> * Resolve SemanticPose objects relative to other SemanticPose objects Signed-off-by: Addisu Z. Taddese <[email protected]> * Add missing file Signed-off-by: Addisu Z. Taddese <[email protected]> * Revert the SemanticPose::Resolve API that takes SemanticPose objects This proved to be problematic since the graph contained in the input SemanticPose can be at a different scope than the graph in the current object. Thus it becomes necessary to find the least common ancestor vertex between two vertices in the graph. This is feasible, but it would be best to do it in a separate PR. Signed-off-by: Addisu Z. Taddese <[email protected]> * Remove addNestedModel Signed-off-by: Addisu Z. Taddese <[email protected]> * Add more documentation, cleanup Signed-off-by: Addisu Z. Taddese <[email protected]> * Validate __root__ vertices Signed-off-by: Addisu Z. Taddese <[email protected]> * Add more error cases in validate* functions Signed-off-by: Addisu Z. Taddese <[email protected]> * Remove obsolete test Signed-off-by: Addisu Z. Taddese <[email protected]> * Prevent users from referencing `__root__` in SDFormat XML. Signed-off-by: Addisu Z. Taddese <[email protected]> * More expectations in LoadJointNestedParentChild Test `Joint::Resolve*Link` methods in LoadJointNestedParentChild test case. Signed-off-by: Steve Peters <[email protected]> * Address Reviewer feedback Signed-off-by: Addisu Z. Taddese <[email protected]> * Add and update doxygen for SetFrameAttachedToGraph and SetPoseRelativeToGraph Signed-off-by: Addisu Z. Taddese <[email protected]> * Add doxygen to new SemanticPose constructor Signed-off-by: Addisu Z. Taddese <[email protected]> * Remove unnecessary code Signed-off-by: Addisu Z. Taddese <[email protected]> * Refactor code that handles PlacementFrame into a function Signed-off-by: Addisu Z. Taddese <[email protected]> * Address reviewer feedback Signed-off-by: Addisu Z. Taddese <[email protected]> * Add failing test showing bug in checkFrameAttachedToNames Signed-off-by: Addisu Z. Taddese <[email protected]> * Fix how frame attached_to names are checked for existence Signed-off-by: Addisu Z. Taddese <[email protected]> * Add unit test for the output stream of sdf::Errors Signed-off-by: Addisu Z. Taddese <[email protected]> * Return void from Model::SetPoseRelativeToGraph Signed-off-by: Addisu Z. Taddese <[email protected]> * Add test for world level nested references Signed-off-by: Addisu Z. Taddese <[email protected]> * Add test for ign graph command Signed-off-by: Addisu Z. Taddese <[email protected]> * Be more selective about checking for usage of __root__ Instead of checking if any attribute has a value of "__root__", only the following attributes are checked: * //frame/[@attached_to] * //pose/[@relative_to] * //model/[@placement_frame] * //model/[@canonical_link] * //sensor/imu/orientation_reference_frame/custom_rpy/[@parent_frame] In addition, the elements //joint/parent, //joint/child and //include/placement_frame are checked for validity Signed-off-by: Addisu Z. Taddese <[email protected]> * Address reviewer feedback Signed-off-by: Addisu Z. Taddese <[email protected]> * Scoped -> scoped Signed-off-by: Addisu Z. Taddese <[email protected]> * Address reviewer feedback Signed-off-by: Addisu Z. Taddese <[email protected]> * Change scopeName to scopeContextName Signed-off-by: Addisu Z. Taddese <[email protected]> * Add warning to the help message of ign sdf -g command Signed-off-by: Addisu Z. Taddese <[email protected]> * Remove extraneous error comments Signed-off-by: Addisu Z. Taddese <[email protected]> * Address reviewer feedback Signed-off-by: Addisu Z. Taddese <[email protected]> * Resolve additional merge conflicts Signed-off-by: Addisu Z. Taddese <[email protected]> * Cleanup Signed-off-by: Addisu Z. Taddese <[email protected]> * Address reviewer feedback Signed-off-by: Addisu Z. Taddese <[email protected]> * State that *Count functions only count immediate child elements Signed-off-by: Addisu Z. Taddese <[email protected]> * Address reviewer feedback Signed-off-by: Addisu Z. Taddese <[email protected]> * Typo Signed-off-by: Addisu Z. Taddese <[email protected]> * Revert documentation updates to Root::*ByName and World::*ByName functions Signed-off-by: Addisu Z. Taddese <[email protected]> * Keep some of the changes from the previous commit Signed-off-by: Addisu Z. Taddese <[email protected]> * Move construction of PoseRelativeToGraph and FrameAttachedToGraph to sdf::Root (#1) * Move graph creation to sdf::Root from sdf::World and sdf::Model. Signed-off-by: Addisu Z. Taddese <[email protected]> * Convert ScopedGraph to hold a strong reference to the underlying graph Signed-off-by: Addisu Z. Taddese <[email protected]> * Add copy/move constructors to sdf::Root Signed-off-by: Addisu Z. Taddese <[email protected]> * Additional test of sdf::Root objects before copy and move Signed-off-by: Addisu Z. Taddese <[email protected]> * Fix typo Signed-off-by: Addisu Z. Taddese <[email protected]> * Explicitly delete copy constructor and assignment. Signed-off-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Steve Peters <[email protected]>
gazebosim · Nov 18, 2020 · 5a91081 · 5a91081
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diff --git a/Migration.md b/Migration.md
@@ -22,9 +22,10 @@ but with improved human-readability..
 
 ### Modifications
 
-1. **sdf/Model.hh**: the following methods now accept nested names
-      that can begin with a sequence of nested model names separated
-      by `::` and may end with the name of an object of the specified type.
+1. **sdf/Model.hh**: the following methods now accept nested names relative to
+      the model's scope that can begin with a sequence of nested model names
+      separated by `::` and may end with the name of an object of the specified
+      type.
     + const Frame \*FrameByName(const std::string &) const
     + const Joint \*JointByName(const std::string &) const
     + const Link \*LinkByName(const std::string &) const

diff --git a/include/sdf/Collision.hh b/include/sdf/Collision.hh
@@ -36,6 +36,7 @@ namespace sdf
   class Geometry;
   class Surface;
   struct PoseRelativeToGraph;
+  template <typename T> class ScopedGraph;
 
   /// \brief A collision element descibes the collision properties associated
   /// with a link. This can be different from the visual properties of a link.
@@ -141,12 +142,12 @@ namespace sdf
     /// \param[in] _xmlParentName Name of xml parent object.
     private: void SetXmlParentName(const std::string &_xmlParentName);
 
-    /// \brief Give a weak pointer to the PoseRelativeToGraph to be used
-    /// for resolving poses. This is private and is intended to be called by
+    /// \brief Give the scoped PoseRelativeToGraph to be used for resolving
+    /// poses. This is private and is intended to be called by
     /// Link::SetPoseRelativeToGraph.
-    /// \param[in] _graph Weak pointer to PoseRelativeToGraph.
+    /// \param[in] _graph scoped PoseRelativeToGraph object.
     private: void SetPoseRelativeToGraph(
-        std::weak_ptr<const PoseRelativeToGraph> _graph);
+        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
     /// \brief Allow Link::SetPoseRelativeToGraph to call SetXmlParentName
     /// and SetPoseRelativeToGraph, but Link::SetPoseRelativeToGraph is

diff --git a/include/sdf/Frame.hh b/include/sdf/Frame.hh
@@ -35,6 +35,7 @@ namespace sdf
   class FramePrivate;
   struct FrameAttachedToGraph;
   struct PoseRelativeToGraph;
+  template <typename T> class ScopedGraph;
 
   /// \brief A Frame element descibes the properties associated with an
   /// explicit frame defined in a Model or World.
@@ -133,9 +134,8 @@ namespace sdf
     public: sdf::ElementPtr Element() const;
 
     /// \brief Resolve the attached-to body of this frame from the
-    /// FrameAttachedToGraph. If this is in a __model__ scope, it returns
-    /// the name of a link. In the world scope, it returns the name of a
-    /// model or the world.
+    /// FrameAttachedToGraph. Generally, it resolves to the name of a link, but
+    /// if it is in the world scope, it can resolve to "world".
     /// \param[out] _body Name of body to which this frame is attached.
     /// \return Errors.
     public: Errors ResolveAttachedToBody(std::string &_body) const;
@@ -145,19 +145,19 @@ namespace sdf
     /// \return SemanticPose object for this link.
     public: sdf::SemanticPose SemanticPose() const;
 
-    /// \brief Give a weak pointer to the FrameAttachedToGraph to be used
-    /// for resolving attached bodies. This is private and is intended to
-    /// be called by Model::Load or World::Load.
-    /// \param[in] _graph Weak pointer to FrameAttachedToGraph.
+    /// \brief Give a scoped FrameAttachedToGraph to be used for resolving
+    /// attached bodies. This is private and is intended to be called by
+    /// Model::Load or World::Load.
+    /// \param[in] _graph scoped FrameAttachedToGraph object.
     private: void SetFrameAttachedToGraph(
-        std::weak_ptr<const FrameAttachedToGraph> _graph);
+        sdf::ScopedGraph<FrameAttachedToGraph> _graph);
 
-    /// \brief Give a weak pointer to the PoseRelativeToGraph to be used
-    /// for resolving poses. This is private and is intended to be called by
-    /// Model::Load or World::Load.
-    /// \param[in] _graph Weak pointer to PoseRelativeToGraph.
+    /// \brief Give the scoped PoseRelativeToGraph to be used for resolving
+    /// poses. This is private and is intended to be called by Model::Load or
+    /// World::Load.
+    /// \param[in] _graph scoped PoseRelativeToGraph object.
     private: void SetPoseRelativeToGraph(
-        std::weak_ptr<const PoseRelativeToGraph> _graph);
+        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
     /// \brief Allow Model::Load and World::Load to call SetPoseRelativeToGraph.
     friend class Model;

diff --git a/include/sdf/Joint.hh b/include/sdf/Joint.hh
@@ -37,6 +37,7 @@ namespace sdf
   class JointPrivate;
   struct FrameAttachedToGraph;
   struct PoseRelativeToGraph;
+  template <typename T> class ScopedGraph;
 
   /// \enum JointType
   /// \brief The set of joint types. INVALID indicates that joint type has
@@ -221,19 +222,18 @@ namespace sdf
     /// \return SemanticPose object for this link.
     public: sdf::SemanticPose SemanticPose() const;
 
-    /// \brief Give a weak pointer to the FrameAttachedToGraph to be used
-    /// for resolving parent and child link names. This is private and is
-    /// intended to be called by  Model::Load.
-    /// \param[in] _graph Weak pointer to FrameAttachedToGraph.
+    /// \brief Give the scoped FrameAttachedToGraph to be used for resolving
+    /// parent and child link names. This is private and is intended to be
+    /// called by Model::Load.
+    /// \param[in] _graph scoped FrameAttachedToGraph object.
     private: void SetFrameAttachedToGraph(
-        std::weak_ptr<const FrameAttachedToGraph> _graph);
+        sdf::ScopedGraph<FrameAttachedToGraph> _graph);
 
-    /// \brief Give a weak pointer to the PoseRelativeToGraph to be used
-    /// for resolving poses. This is private and is intended to be called by
-    /// Model::Load.
-    /// \param[in] _graph Weak pointer to PoseRelativeToGraph.
+    /// \brief Give the scoped PoseRelativeToGraph to be used for resolving
+    /// poses. This is private and is intended to be called by Model::Load.
+    /// \param[in] _graph scoped PoseRelativeToGraph object.
     private: void SetPoseRelativeToGraph(
-        std::weak_ptr<const PoseRelativeToGraph> _graph);
+        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
     /// \brief Allow Model::Load to call SetPoseRelativeToGraph.
     friend class Model;

diff --git a/include/sdf/JointAxis.hh b/include/sdf/JointAxis.hh
@@ -35,6 +35,7 @@ namespace sdf
   // Forward declare private data class.
   class JointAxisPrivate;
   struct PoseRelativeToGraph;
+  template <typename T> class ScopedGraph;
 
   /// \brief Parameters related to the axis of rotation for rotational joints,
   /// and the axis of translation for prismatic joints.
@@ -269,12 +270,12 @@ namespace sdf
     /// \param[in] _xmlParentName Name of xml parent object.
     private: void SetXmlParentName(const std::string &_xmlParentName);
 
-    /// \brief Give a weak pointer to the PoseRelativeToGraph to be used
-    /// for resolving poses. This is private and is intended to be called
-    /// by Joint::SetPoseRelativeToGraph.
-    /// \param[in] _graph Weak pointer to PoseRelativeToGraph.
+    /// \brief Give the scoped PoseRelativeToGraph to be used for resolving
+    /// poses. This is private and is intended to be called by
+    /// Joint::SetPoseRelativeToGraph.
+    /// \param[in] _graph scoped PoseRelativeToGraph object.
     private: void SetPoseRelativeToGraph(
-        std::weak_ptr<const PoseRelativeToGraph> _graph);
+        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
     /// \brief Allow Joint::SetPoseRelativeToGraph to propagate.
     friend class Joint;

diff --git a/include/sdf/Light.hh b/include/sdf/Light.hh
@@ -37,6 +37,7 @@ namespace sdf
   // Forward declare private data class.
   class LightPrivate;
   struct PoseRelativeToGraph;
+  template <typename T> class ScopedGraph;
 
   /// \enum LightType
   /// \brief The set of light types. INVALID indicates that light type has
@@ -273,12 +274,12 @@ namespace sdf
     /// \param[in] _xmlParentName Name of xml parent object.
     private: void SetXmlParentName(const std::string &_xmlParentName);
 
-    /// \brief Give a weak pointer to the PoseRelativeToGraph to be used
-    /// for resolving poses. This is private and is intended to be called by
+    /// \brief Give the scoped PoseRelativeToGraph to be used for resolving
+    /// poses. This is private and is intended to be called by
     /// Link::SetPoseRelativeToGraph or World::Load.
-    /// \param[in] _graph Weak pointer to PoseRelativeToGraph.
+    /// \param[in] _graph scoped PoseRelativeToGraph object.
     private: void SetPoseRelativeToGraph(
-        std::weak_ptr<const PoseRelativeToGraph> _graph);
+        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
     /// \brief Allow Link::SetPoseRelativeToGraph or World::Load to call
     /// SetXmlParentName and SetPoseRelativeToGraph,

diff --git a/include/sdf/Link.hh b/include/sdf/Link.hh
@@ -40,6 +40,7 @@ namespace sdf
   class Visual;
   class LinkPrivate;
   struct PoseRelativeToGraph;
+  template <typename T> class ScopedGraph;
 
   class SDFORMAT_VISIBLE Link
   {
@@ -225,12 +226,11 @@ namespace sdf
     /// \return SemanticPose object for this link.
     public: sdf::SemanticPose SemanticPose() const;
 
-    /// \brief Give a weak pointer to the PoseRelativeToGraph to be used
-    /// for resolving poses. This is private and is intended to be called by
-    /// Model::Load.
-    /// \param[in] _graph Weak pointer to PoseRelativeToGraph.
+    /// \brief Give the scoped PoseRelativeToGraph to be used for resolving
+    /// poses. This is private and is intended to be called by Model::Load.
+    /// \param[in] _graph scoped PoseRelativeToGraph object.
     private: void SetPoseRelativeToGraph(
-        std::weak_ptr<const PoseRelativeToGraph> _graph);
+        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
     /// \brief Allow Model::Load to call SetPoseRelativeToGraph.
     friend class Model;

diff --git a/include/sdf/Model.hh b/include/sdf/Model.hh
@@ -39,6 +39,8 @@ namespace sdf
   class Link;
   class ModelPrivate;
   struct PoseRelativeToGraph;
+  struct FrameAttachedToGraph;
+  template <typename T> class ScopedGraph;
 
   class SDFORMAT_VISIBLE Model
   {
@@ -132,11 +134,14 @@ namespace sdf
     /// should be subject to wind.
     public: void SetEnableWind(bool _enableWind);
 
-    /// \brief Get the number of links.
+    /// \brief Get the number of links that are immediate (not nested) children
+    /// of this Model object.
+    /// \remark LinkByName() can find links that are not immediate children of
+    /// this Model object.
     /// \return Number of links contained in this Model object.
     public: uint64_t LinkCount() const;
 
-    /// \brief Get a link based on an index.
+    /// \brief Get an immediate (not nested) child link based on an index.
     /// \param[in] _index Index of the link. The index should be in the
     /// range [0..LinkCount()).
     /// \return Pointer to the link. Nullptr if the index does not exist.
@@ -157,11 +162,14 @@ namespace sdf
     /// \return True if there exists a link with the given name.
     public: bool LinkNameExists(const std::string &_name) const;
 
-    /// \brief Get the number of joints.
+    /// \brief Get the number of joints that are immediate (not nested) children
+    /// of this Model object.
+    /// \remark JointByName() can find joints that are not immediate children of
+    /// this Model object.
     /// \return Number of joints contained in this Model object.
     public: uint64_t JointCount() const;
 
-    /// \brief Get a joint based on an index.
+    /// \brief Get an immediate (not nested) child joint based on an index.
     /// \param[in] _index Index of the joint. The index should be in the
     /// range [0..JointCount()).
     /// \return Pointer to the joint. Nullptr if the index does not exist.
@@ -170,7 +178,7 @@ namespace sdf
 
     /// \brief Get whether a joint name exists.
     /// \param[in] _name Name of the joint to check.
-    /// To check for a joint in a nested model, prefix the link name with
+    /// To check for a joint in a nested model, prefix the joint name with
     /// the sequence of nested models containing this joint, delimited by "::".
     /// \return True if there exists a joint with the given name.
     public: bool JointNameExists(const std::string &_name) const;
@@ -184,11 +192,15 @@ namespace sdf
     /// \sa bool JointNameExists(const std::string &_name) const
     public: const Joint *JointByName(const std::string &_name) const;
 
-    /// \brief Get the number of explicit frames.
+    /// \brief Get the number of explicit frames that are immediate (not nested)
+    /// children of this Model object.
+    /// \remark FrameByName() can find explicit frames that are not immediate
+    /// children of this Model object.
     /// \return Number of explicit frames contained in this Model object.
     public: uint64_t FrameCount() const;
 
-    /// \brief Get an explicit frame based on an index.
+    /// \brief Get an immediate (not nested) child explicit frame based on an
+    /// index.
     /// \param[in] _index Index of the explicit frame. The index should be in
     /// the range [0..FrameCount()).
     /// \return Pointer to the explicit frame. Nullptr if the index does not
@@ -211,11 +223,15 @@ namespace sdf
     /// \return True if there exists an explicit frame with the given name.
     public: bool FrameNameExists(const std::string &_name) const;
 
-    /// \brief Get the number of nested models.
+    /// \brief Get the number of nested models that are immediate (not
+    /// recursively nested) children of this Model object.
+    /// \remark ModelByName() can find nested models that are not immediate
+    /// children of this Model object.
     /// \return Number of nested models contained in this Model object.
     public: uint64_t ModelCount() const;
 
-    /// \brief Get a nested model based on an index.
+    /// \brief Get an immediate (not recursively nested) child model based on an
+    /// index.
     /// \param[in] _index Index of the nested model. The index should be in the
     /// range [0..ModelCount()).
     /// \return Pointer to the model. Nullptr if the index does not exist.
@@ -298,13 +314,21 @@ namespace sdf
     /// \param[in] _name Name of the placement frame.
     public: void SetPlacementFrameName(const std::string &_name);
 
-    /// \brief Give a weak pointer to the PoseRelativeToGraph to be used
-    /// for resolving poses. This is private and is intended to be called by
-    /// World::Load and Model::Load if this is a nested model.
-    /// \param[in] _graph Weak pointer to PoseRelativeToGraph.
-    /// \return Error if graph pointer is invalid.
-    private: sdf::Errors SetPoseRelativeToGraph(
-        std::weak_ptr<const PoseRelativeToGraph> _graph);
+    /// \brief Give the scoped PoseRelativeToGraph to be used for resolving
+    /// poses. This is private and is intended to be called by Root::Load or
+    /// World::SetPoseRelativeToGraph if this is a standalone model and
+    /// Model::SetPoseRelativeToGraph if this is a nested model.
+    /// \param[in] _graph scoped PoseRelativeToGraph object.
+    private: void SetPoseRelativeToGraph(
+        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
+
+    /// \brief Give the scoped FrameAttachedToGraph to be used for resolving
+    /// attached bodies. This is private and is intended to be called by
+    /// Root::Load or World::SetFrameAttachedToGraph if this is a standalone
+    /// model and Model::SetFrameAttachedToGraph if this is a nested model.
+    /// \param[in] _graph scoped FrameAttachedToGraph object.
+    private: void SetFrameAttachedToGraph(
+        sdf::ScopedGraph<FrameAttachedToGraph> _graph);
 
     /// \brief Get the model's canonical link and the nested name of the link
     /// relative to the current model, delimited by "::".
@@ -313,7 +337,10 @@ namespace sdf
     private: std::pair<const Link *, std::string> CanonicalLinkAndRelativeName()
         const;
 
-    /// \brief Allow World::Load to call SetPoseRelativeToGraph.
+    /// \brief Allow Root::Load, World::SetPoseRelativeToGraph, or
+    /// World::SetFrameAttachedToGraph to call SetPoseRelativeToGraph and
+    /// SetFrameAttachedToGraph
+    friend class Root;
     friend class World;
 
     /// \brief Allow helper function in FrameSemantics.cc to call

diff --git a/include/sdf/Root.hh b/include/sdf/Root.hh
@@ -56,6 +56,23 @@ namespace sdf
     /// \brief Default constructor
     public: Root();
 
+    /// \brief Copy constructor is explicitly deleted to avoid copying the
+    /// FrameAttachedToGraph and PoseRelativeToGraphs contained in Root.
+    public: Root(const Root &_root) = delete;
+
+    /// \brief Move constructor
+    /// \param[in] _root Root to move.
+    public: Root(Root &&_root) noexcept;
+
+    /// \brief Move assignment operator.
+    /// \param[in] _root Root to move.
+    /// \return Reference to this.
+    public: Root &operator=(Root &&_root) noexcept;
+
+    /// \brief Copy assignment operator is explicitly deleted to avoid copying
+    /// the FrameAttachedToGraph and PoseRelativeToGraphs contained in Root.
+    public: Root &operator=(const Root &_root) = delete;
+
     /// \brief Destructor
     public: ~Root();
 
@@ -107,7 +124,8 @@ namespace sdf
     /// \return True if there exists a world with the given name.
     public: bool WorldNameExists(const std::string &_name) const;
 
-    /// \brief Get the number of models.
+    /// \brief Get the number of models that are immediate (not nested) children
+    /// of this Root object.
     /// \return Number of models contained in this Root object.
     public: uint64_t ModelCount() const;