Scene manager class for loading and managing objects in the scene. More...

#include <SceneManager.hh>

Public Member Functions
	SceneManager ()
	Constructor. More...

	~SceneManager ()
	Destructor. More...

std::map< std::string, math::Matrix4d >	ActorMeshAnimationAt (Entity _id, std::chrono::steady_clock::duration _time) const
	Get the animation of actor mesh given an id. More...

rendering::MeshPtr	ActorMeshById (Entity _id) const
	Get a rendering mesh given an id. More...

bool	AddSensor (Entity _gazeboId, const std::string &_sensorName, Entity _parentGazeboId=0)
	Ignition sensors is the one responsible for adding sensors to the scene. Here we just keep track of it and make sure it has the correct parent. More...

rendering::VisualPtr	CreateActor (Entity _id, const sdf::Actor &_actor, Entity _parentId=0)
	Create an actor. More...

rendering::VisualPtr	CreateCollision (Entity _id, const sdf::Collision &_collision, Entity _parentId=0)
	Create a collision visual. More...

rendering::LightPtr	CreateLight (Entity _id, const sdf::Light &_light, Entity _parentId)
	Create a light. More...

rendering::VisualPtr	CreateLink (Entity _id, const sdf::Link &_link, Entity _parentId=0)
	Create a link. More...

rendering::VisualPtr	CreateModel (Entity _id, const sdf::Model &_model, Entity _parentId=0)
	Create a model. More...

rendering::VisualPtr	CreateVisual (Entity _id, const sdf::Visual &_visual, Entity _parentId=0)
	Create a visual. More...

Entity	EntityFromNode (const rendering::NodePtr &_node) const
	Get the entity for a given node. More...

bool	HasEntity (Entity _id) const
	Check if entity exists. More...

rendering::NodePtr	NodeById (Entity _id) const
	Get a rendering node given an entity id. More...

void	RemoveEntity (Entity _id)
	Remove an entity by id. More...

rendering::ScenePtr	Scene () const
	Get the scene. More...

void	SetScene (rendering::ScenePtr _scene)
	Set the scene to manage. More...

void	SetWorldId (Entity _id)
	Set the world's ID. More...

rendering::NodePtr	TopLevelNode (const rendering::NodePtr &_node) const
	Get the top level node for the given node, which is the ancestor which is a direct child to the root visual. Usually, this will be a model or a light. More...

rendering::VisualPtr	TopLevelVisual (rendering::VisualPtr _visual) const
	Get the top level visual for the given visual, which is the ancestor which is a direct child to the root visual. Usually, this will be a model or a light. More...

rendering::VisualPtr	VisualById (Entity _id)
	Retrieve visual. More...

Entity	WorldId () const
	Get the world's ID. More...

Detailed Description

Scene manager class for loading and managing objects in the scene.

Constructor & Destructor Documentation

◆ SceneManager()

SceneManager ( )

Constructor.

◆ ~SceneManager()

~SceneManager ( )

Destructor.

Member Function Documentation

◆ ActorMeshAnimationAt()

std::map<std::string, math::Matrix4d> ActorMeshAnimationAt	(	Entity	_id,
		std::chrono::steady_clock::duration	_time
	)		const

Get the animation of actor mesh given an id.

Parameters

[in]	_id	Entity's unique id
[in]	_time	Timepoint for the animation

Returns: Map from the skeleton node name to transforms

◆ ActorMeshById()

rendering::MeshPtr ActorMeshById ( Entity _id ) const

Get a rendering mesh given an id.

Parameters

[in] _id Actor entity's unique id

Returns: Pointer to requested entity's mesh

◆ AddSensor()

bool AddSensor	(	Entity	_gazeboId,
		const std::string &	_sensorName,
		Entity	_parentGazeboId = `0`
	)

Ignition sensors is the one responsible for adding sensors to the scene. Here we just keep track of it and make sure it has the correct parent.

Parameters

[in]	_gazeboId	Entity in Gazebo
[in]	_sensorName	Name of sensor node in Ignition Rendering.
[in]	_parentGazeboId	Parent Id on Gazebo.

Returns: True if sensor is successfully handled

◆ CreateActor()

rendering::VisualPtr CreateActor	(	Entity	_id,
		const sdf::Actor &	_actor,
		Entity	_parentId = `0`
	)

Create an actor.

Parameters

[in]	_id	Unique actor id
[in]	_actor	Actor sdf dom
[in]	_parentId	Parent id

Returns: Actor object created from the sdf dom

◆ CreateCollision()

rendering::VisualPtr CreateCollision	(	Entity	_id,
		const sdf::Collision &	_collision,
		Entity	_parentId = `0`
	)

Create a collision visual.

Parameters

[in]	_id	Unique visual id
[in]	_collision	Collision sdf dom
[in]	_parentId	Parent id

Returns: Visual (collision) object created from the sdf dom

◆ CreateLight()

rendering::LightPtr CreateLight	(	Entity	_id,
		const sdf::Light &	_light,
		Entity	_parentId
	)

Create a light.

Parameters

[in]	_id	Unique light id
[in]	_light	Light sdf dom
[in]	_parentId	Parent id

Returns: Light object created from the sdf dom

◆ CreateLink()

rendering::VisualPtr CreateLink	(	Entity	_id,
		const sdf::Link &	_link,
		Entity	_parentId = `0`
	)

Create a link.

Parameters

[in]	_id	Unique link id
[in]	_link	Link sdf dom
[in]	_parentId	Parent id

Returns: Link visual created from the sdf dom

◆ CreateModel()

rendering::VisualPtr CreateModel	(	Entity	_id,
		const sdf::Model &	_model,
		Entity	_parentId = `0`
	)

Create a model.

Parameters

[in]	_id	Unique model id
[in]	_model	Model sdf dom
[in]	_parentId	Parent id

Returns: Model visual created from the sdf dom

◆ CreateVisual()

rendering::VisualPtr CreateVisual	(	Entity	_id,
		const sdf::Visual &	_visual,
		Entity	_parentId = `0`
	)

Create a visual.

Parameters

[in]	_id	Unique visual id
[in]	_visual	Visual sdf dom
[in]	_parentId	Parent id

Returns: Visual object created from the sdf dom

◆ EntityFromNode()

Entity EntityFromNode ( const rendering::NodePtr & _node ) const

Get the entity for a given node.

Parameters

[in] _node Node to get the entity for.

Returns: The entity for that node, or kNullEntity for no entity.

Todo:: (anyone) Deprecate in favour of gz::rendering::Node::UserData once that's available.

◆ HasEntity()

bool HasEntity ( Entity _id ) const

Check if entity exists.

Parameters

[in] _id Unique entity id

Returns: true if exists, false otherwise

◆ NodeById()

rendering::NodePtr NodeById ( Entity _id ) const

Get a rendering node given an entity id.

Parameters

[in] _id Entity's unique id

Returns: Pointer to requested entity's node

◆ RemoveEntity()

void RemoveEntity ( Entity _id )

Remove an entity by id.

Parameters

[in] _id Entity's unique id

◆ Scene()

rendering::ScenePtr Scene ( ) const

Get the scene.

Returns: Pointer to scene

◆ SetScene()

void SetScene ( rendering::ScenePtr _scene )

Set the scene to manage.

Parameters

[in] _scene Scene pointer.

◆ SetWorldId()

void SetWorldId ( Entity _id )

Set the world's ID.

Parameters

[in] _id World ID.

◆ TopLevelNode()

rendering::NodePtr TopLevelNode ( const rendering::NodePtr & _node ) const

Get the top level node for the given node, which is the ancestor which is a direct child to the root visual. Usually, this will be a model or a light.

Parameters

[in] _node Child node

Returns: Top level node containining this node

◆ TopLevelVisual()

rendering::VisualPtr TopLevelVisual ( rendering::VisualPtr _visual ) const

Get the top level visual for the given visual, which is the ancestor which is a direct child to the root visual. Usually, this will be a model or a light.

Parameters

[in] _visual Child visual

Returns: Top level visual containining this visual TODO(anyone) Make it const ref when merging forward

◆ VisualById()

rendering::VisualPtr VisualById ( Entity _id )

Retrieve visual.

Parameters

[in] _id Unique visual (entity) id

Returns: Pointer to requested visual

◆ WorldId()

Entity WorldId ( ) const

Get the world's ID.

Returns: World ID

The documentation for this class was generated from the following file:

gz/sim/rendering/SceneManager.hh

Gazebo Gazebo

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ SceneManager()

◆ ~SceneManager()

Member Function Documentation

◆ ActorMeshAnimationAt()

◆ ActorMeshById()

◆ AddSensor()

◆ CreateActor()

◆ CreateCollision()

◆ CreateLight()

◆ CreateLink()

◆ CreateModel()

◆ CreateVisual()

◆ EntityFromNode()

◆ HasEntity()

◆ NodeById()

◆ RemoveEntity()

◆ Scene()

◆ SetScene()

◆ SetWorldId()

◆ TopLevelNode()

◆ TopLevelVisual()

◆ VisualById()

◆ WorldId()