23#include <ignition/math/SphericalCoordinates.hh>
24#include <ignition/math/Vector3.hh>
25#include <ignition/utils/ImplPtr.hh>
32#include "sdf/sdf_config.h"
38 inline namespace SDF_VERSION_NAMESPACE {
50 struct PoseRelativeToGraph;
51 struct FrameAttachedToGraph;
52 template <
typename T>
class ScopedGraph;
84 public: std::string
Name()
const;
88 public:
void SetName(
const std::string &_name);
119 public: ignition::math::Vector3d
Gravity()
const;
124 public:
void SetGravity(
const ignition::math::Vector3d &_gravity);
144 public:
const ignition::math::SphericalCoordinates *
150 const ignition::math::SphericalCoordinates &_coord);
343 const uint64_t _index)
const;
353 const uint64_t _index)
const;
359 private:
void SetPoseRelativeToGraph(
366 private:
void SetFrameAttachedToGraph(
374 IGN_UTILS_IMPL_PTR(dataPtr)
Provides a description of an actor.
Definition: Actor.hh:191
The Atmosphere class contains information about an atmospheric model and related parameters such as t...
Definition: Atmosphere.hh:46
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition: Frame.hh:43
Provides a description of a light source.
Definition: Light.hh:64
Contains the necessary information about an included model file for custom model parsers to be able t...
Definition: InterfaceElements.hh:45
This class contains configuration options for the libsdformat parser.
Definition: ParserConfig.hh:85
The physics element specifies the type and properties of a dynamics engine.
Definition: Physics.hh:37
Root class that acts as an entry point to the SDF document model.
Definition: Root.hh:55
Definition: Collision.hh:39
void SetWindLinearVelocity(const ignition::math::Vector3d &_wind)
Set the wind linear velocity in the global/world coordinate frame.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
const Physics * PhysicsDefault() const
Get the default physics profile.
bool AddLight(const Light &_light)
Add a light to the world.
Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config)
Load the world based on a element pointer.
ignition::math::Vector3d Gravity() const
Get the acceleration due to gravity.
const sdf::Scene * Scene() const
Get a pointer to the Scene associated with this world.
const Frame * FrameByName(const std::string &_name) const
Get an explicit frame based on a name.
bool AddModel(const Model &_model)
Add a model to the world.
uint64_t ModelCount() const
Get the number of models that are immediate (not nested) children of this World object.
void SetScene(const sdf::Scene &_scene)
Set the Scene parameters associated with this world.
World()
Default constructor.
const NestedInclude * InterfaceModelNestedIncludeByIndex(const uint64_t _index) const
Get the nested include information of an immediate (not recursively nested) child interface model bas...
void SetName(const std::string &_name)
Set the name of the world.
bool LightNameExists(const std::string &_name) const
Get whether a light name exists.
const Frame * FrameByIndex(const uint64_t _index) const
Get an immediate (not nested) child explicit frame based on an index.
void SetMagneticField(const ignition::math::Vector3d &_mag)
Set the magnetic vector in Tesla, expressed in a coordinate frame defined by the SphericalCoordinate.
void SetAudioDevice(const std::string &_device)
Set the audio device name.
const Physics * PhysicsByIndex(const uint64_t _index) const
Get a physics profile based on an index.
bool ModelNameExists(const std::string &_name) const
Get whether a model name exists.
Errors ValidateGraphs() const
Check that the FrameAttachedToGraph and PoseRelativeToGraph are valid.
uint64_t FrameCount() const
Get the number of explicit frames that are immediate (not nested) children of this World object.
const Model * ModelByName(const std::string &_name) const
Get a model based on a name.
void ClearModels()
Remove all models.
uint64_t InterfaceModelCount() const
Get the number of nested interface models that are immediate (not recursively nested) children of thi...
void SetGui(const sdf::Gui &_gui)
Set the Gui parameters associated with this world.
const ignition::math::SphericalCoordinates * SphericalCoordinates() const
Get the spherical coordinates for the world origin.
std::shared_ptr< const InterfaceModel > InterfaceModelByIndex(const uint64_t _index) const
Get an immediate (not recursively nested) child interface model based on an index.
ignition::math::Vector3d MagneticField() const
Get the magnetic vector in Tesla, expressed in a coordinate frame defined by the SphericalCoordinates...
void SetSphericalCoordinates(const ignition::math::SphericalCoordinates &_coord)
Set the spherical coordinates for the world origin.
bool FrameNameExists(const std::string &_name) const
Get whether an explicit frame name exists.
void SetGravity(const ignition::math::Vector3d &_gravity)
Set the acceleration due to gravity.
const Actor * ActorByIndex(const uint64_t _index) const
Get an actor based on an index.
uint64_t ActorCount() const
Get the number of actors.
bool ActorNameExists(const std::string &_name) const
Get whether an actor name exists.
Errors Load(ElementPtr _sdf)
Load the world based on a element pointer.
bool AddActor(const Actor &_actor)
Add an actor to the world.
ignition::math::Vector3d WindLinearVelocity() const
Get the wind linear velocity in the global/world coordinate frame.
const sdf::Atmosphere * Atmosphere() const
Get a pointer to the atmosphere model associated with this world.
uint64_t LightCount() const
Get the number of lights.
const Model * ModelByIndex(const uint64_t _index) const
Get an immediate (not recursively nested) child model based on an index.
uint64_t PhysicsCount() const
Get the number of physics profiles.
std::string Name() const
Get the name of the world.
const Light * LightByIndex(const uint64_t _index) const
Get a light based on an index.
std::string AudioDevice() const
Get the audio device name.
const sdf::Gui * Gui() const
Get a pointer to the Gui associated with this world.
void ClearActors()
Remove all models.
bool PhysicsNameExists(const std::string &_name) const
Get whether a physics profile name exists.
void SetAtmosphere(const sdf::Atmosphere &_atmosphere)
Set the atmosphere model associated with this world.
void ClearLights()
Remove all models.
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