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

#include <SceneManager.hh>

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

	~SceneManager ()
	Destructor. More...

AnimationUpdateData	ActorAnimationAt (Entity _id, std::chrono::steady_clock::duration _time) const
	Get the actor animation update data given an id. Use this function to let the render engine handle the actor animation. by setting the animation name to be played. 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 Use this function if you are animating the actor manually by its skeleton node pose. More...

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

common::SkeletonPtr	ActorSkeletonById (Entity _id) const
	Get a skeleton given an id. More...

std::map< std::string, math::Matrix4d >	ActorSkeletonTransformsAt (Entity _id, std::chrono::steady_clock::duration _time) const
	Get the skeleton local transforms of actor mesh given an id. Use this function if you are animating the actor manually by its skeleton node pose. 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	CreateLightVisual (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::ParticleEmitterPtr	CreateParticleEmitter (Entity _id, const msgs::ParticleEmitter &_emitter, Entity _parentId)
	Create a particle emitter. 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 (const 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::ParticleEmitterPtr	UpdateParticleEmitter (Entity _id, const msgs::ParticleEmitter &_emitter)
	Update an existing particle emitter. 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

◆ ActorAnimationAt()

AnimationUpdateData ActorAnimationAt	(	Entity	_id,
		std::chrono::steady_clock::duration	_time
	)		const

Get the actor animation update data given an id. Use this function to let the render engine handle the actor animation. by setting the animation name to be played.

Parameters

[in]	_id	Entity's unique id
[in]	_time	Simulation time

Returns: Data needed to update the animation, including the name and time of animation to play, and trajectory animation info.

◆ 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 Use this function if you are animating the actor manually by its skeleton node pose.

Parameters

[in]	_id	Entity's unique id
[in]	_time	Simulation time

Returns: Map from the skeleton node name to transforms

Deprecated:: see ActorSkeletonTransformAt

◆ 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

◆ ActorSkeletonById()

common::SkeletonPtr ActorSkeletonById ( Entity _id ) const

Get a skeleton given an id.

Parameters

[in] _id Actor entity's unique id

Returns: Pointer to requested entity's skeleton

◆ ActorSkeletonTransformsAt()

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

Get the skeleton local transforms of actor mesh given an id. Use this function if you are animating the actor manually by its skeleton node pose.

Parameters

[in]	_id	Entity's unique id
[in]	_time	SimulationTime

Returns: Map from the skeleton node name to transforms

◆ 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]	_parentId	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]	_visual	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

◆ CreateLightVisual()

rendering::VisualPtr CreateLightVisual	(	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

◆ CreateParticleEmitter()

rendering::ParticleEmitterPtr CreateParticleEmitter	(	Entity	_id,
		const msgs::ParticleEmitter &	_emitter,
		Entity	_parentId
	)

Create a particle emitter.

Parameters

[in]	_id	Unique particle emitter id
[in]	_emitter	Particle emitter data
[in]	_parentId	Parent id

Returns: Default particle emitter object created

◆ 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 ignition::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 ( const 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

◆ UpdateParticleEmitter()

rendering::ParticleEmitterPtr UpdateParticleEmitter	(	Entity	_id,
		const msgs::ParticleEmitter &	_emitter
	)

Update an existing particle emitter.

_id Emitter id to update _emitter Data to update the particle emitter

Returns: Particle emitter updated

◆ 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:

SceneManager.hh

Ignition Gazebo

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ SceneManager()

◆ ~SceneManager()

Member Function Documentation

◆ ActorAnimationAt()

◆ ActorMeshAnimationAt()

◆ ActorMeshById()

◆ ActorSkeletonById()

◆ ActorSkeletonTransformsAt()

◆ AddSensor()

◆ CreateActor()

◆ CreateCollision()

◆ CreateLight()

◆ CreateLightVisual()

◆ CreateLink()

◆ CreateModel()

◆ CreateParticleEmitter()

◆ CreateVisual()

◆ EntityFromNode()

◆ HasEntity()

◆ NodeById()

◆ RemoveEntity()

◆ Scene()

◆ SetScene()

◆ SetWorldId()

◆ TopLevelNode()

◆ TopLevelVisual()

◆ UpdateParticleEmitter()

◆ VisualById()

◆ WorldId()