Visual.hh
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1/*
2 * Copyright 2018 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#ifndef SDF_VISUAL_HH_
18#define SDF_VISUAL_HH_
19
20#include <memory>
21#include <string>
22#include <ignition/math/Pose3.hh>
23#include <ignition/utils/ImplPtr.hh>
24#include "sdf/Box.hh"
25#include "sdf/Cylinder.hh"
26#include "sdf/Element.hh"
27#include "sdf/Material.hh"
28#include "sdf/Plane.hh"
29#include "sdf/SemanticPose.hh"
30#include "sdf/Sphere.hh"
31#include "sdf/Types.hh"
32#include "sdf/sdf_config.h"
33#include "sdf/system_util.hh"
34
35namespace sdf
36{
37 // Inline bracket to help doxygen filtering.
38 inline namespace SDF_VERSION_NAMESPACE {
39 //
40
41 // Forward declarations.
42 class Geometry;
43 struct PoseRelativeToGraph;
44 template <typename T> class ScopedGraph;
45
47 {
49 public: Visual();
50
57 public: Errors Load(ElementPtr _sdf);
58
62 public: std::string Name() const;
63
67 public: void SetName(const std::string &_name);
68
71 public: bool CastShadows() const;
72
75 public: void SetCastShadows(bool _castShadows);
76
79 public: float Transparency() const;
80
83 public: void SetTransparency(float _transparency);
84
87 public: const Geometry *Geom() const;
88
91 public: void SetGeom(const Geometry &_geom);
92
97 public: const ignition::math::Pose3d &RawPose() const;
98
102 public: void SetRawPose(const ignition::math::Pose3d &_pose);
103
108 public: const std::string &PoseRelativeTo() const;
109
114 public: void SetPoseRelativeTo(const std::string &_frame);
115
120
125 public: sdf::ElementPtr Element() const;
126
131 public: const sdf::Material *Material() const;
132
135 public: void SetMaterial(const sdf::Material &_material);
136
139 public: uint32_t VisibilityFlags() const;
140
143 public: void SetVisibilityFlags(uint32_t _flags);
144
149 public: void SetHasLaserRetro(bool _laserRetro);
150
153 public: bool HasLaserRetro() const;
154
157 public: double LaserRetro() const;
158
161 public: void SetLaserRetro(double _laserRetro);
162
167 private: void SetXmlParentName(const std::string &_xmlParentName);
168
173 private: void SetPoseRelativeToGraph(
175
179 friend class Link;
180
182 IGN_UTILS_IMPL_PTR(dataPtr)
183 };
184 }
185}
186#endif
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:78
This class contains visual material properties.
Definition: Material.hh:46
Definition: Collision.hh:39
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:55
Definition: Visual.hh:47
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
uint32_t VisibilityFlags() const
Get the visibility flags of a visual.
const Geometry * Geom() const
Get a pointer to the visual's geometry.
float Transparency() const
Get the transparency value of the visual.
void SetName(const std::string &_name)
Set the name of the visual.
const std::string & PoseRelativeTo() const
Get the name of the coordinate frame relative to which this object's pose is expressed.
Errors Load(ElementPtr _sdf)
Load the visual based on a element pointer.
void SetPoseRelativeTo(const std::string &_frame)
Set the name of the coordinate frame relative to which this object's pose is expressed.
std::string Name() const
Get the name of the visual.
bool HasLaserRetro() const
Get whether the lidar reflective intensity was set was set.
const sdf::Material * Material() const
Get a pointer to the visual's material properties.
void SetMaterial(const sdf::Material &_material)
Set the visual's material.
void SetTransparency(float _transparency)
Set the transparency value for the visual.
void SetGeom(const Geometry &_geom)
Set the visual's geometry.
void SetHasLaserRetro(bool _laserRetro)
Set whether the lidar reflective intensity has been specified.
double LaserRetro() const
Get the flidar reflective intensity.
sdf::SemanticPose SemanticPose() const
Get SemanticPose object of this object to aid in resolving poses.
void SetVisibilityFlags(uint32_t _flags)
Set the visibility flags of a visual.
const ignition::math::Pose3d & RawPose() const
Get the pose of the visual object.
void SetLaserRetro(double _laserRetro)
Set the lidar reflective intensity.
bool CastShadows() const
Get whether the visual casts shadows.
void SetRawPose(const ignition::math::Pose3d &_pose)
Set the pose of the visual object.
Visual()
Default constructor.
void SetCastShadows(bool _castShadows)
Set whether the visual casts shadows.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
namespace for Simulation Description Format parser
Definition: Actor.hh:34
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:41