gz/sim/Light.hh
void SetAttenuationQuadratic(EntityComponentManager &_ecm, double _value)
Set attenuation quadratic value of this light.
std::optional< math::Angle > SpotOuterAngle(const EntityComponentManager &_ecm) const
Get the outer angle of light. Applies to spot lights only.
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:58
void SetDirection(EntityComponentManager &_ecm, const math::Vector3d &_dir)
Set light direction. Applies to directional lights.
This library is part of the Gazebo project.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:66
std::optional< math::Color > SpecularColor(const EntityComponentManager &_ecm) const
Get the light specular color.
void SetSpecularColor(EntityComponentManager &_ecm, const math::Color &_color)
Set the specular color of this light.
void SetSpotInnerAngle(EntityComponentManager &_ecm, const math::Angle &_angle)
Set inner angle for this light. Applies to spot lights only.
std::optional< double > AttenuationConstant(const EntityComponentManager &_ecm) const
Get the light attenuation constant value. Light attenuation is not applicable to directional lights.
std::optional< math::Vector3d > Direction(const EntityComponentManager &_ecm) const
Get the light direction.
std::optional< double > AttenuationQuadratic(const EntityComponentManager &_ecm) const
Get the light attenuation quadratic value. Light attenuation is not applicable to directional lights.
void SetCastShadows(EntityComponentManager &_ecm, bool _castShadows)
Set whether the light casts shadows.
std::optional< double > Intensity(const EntityComponentManager &_ecm) const
Get the light intensity.
This class provides wrappers around entities and components which are more convenient and straight-fo...
Definition: gz/sim/Light.hh:63
std::optional< std::string > Type(const EntityComponentManager &_ecm) const
Get the light type.
std::optional< double > SpotFalloff(const EntityComponentManager &_ecm) const
Get the fall off value of light. Applies to spot lights only.
void SetAttenuationConstant(EntityComponentManager &_ecm, double _value)
Set attenuation constant value of this light.
std::optional< math::Color > DiffuseColor(const EntityComponentManager &_ecm) const
Get the light diffuse color.
void ResetEntity(gazebo::Entity _newEntity)
Reset Entity to a new one.
std::optional< gazebo::Entity > Parent(const EntityComponentManager &_ecm) const
Get the parent entity. This can be a world or a link.
Component< gz::math::Pose3d, class PoseTag > Pose
A component type that contains pose, gz::math::Pose3d, information.
Definition: gz/sim/components/Pose.hh:35
Component< sdf::Light, class LightTag, serializers::LightSerializer > Light
This component contains light source information. For more information on lights, see SDF's Light ele...
Definition: gz/sim/components/Light.hh:48
const Entity kNullEntity
Indicates a non-existant or invalid Entity.
Definition: gz/sim/Entity.hh:61
std::optional< math::Angle > SpotInnerAngle(const EntityComponentManager &_ecm) const
Get the inner angle of light. Applies to spot lights only.
void SetSpotFalloff(EntityComponentManager &_ecm, double _falloff)
Set fall off value for this light. Applies to spot lights only.
std::optional< bool > CastShadows(const EntityComponentManager &_ecm) const
Get whether the light casts shadows.
std::optional< double > AttenuationLinear(const EntityComponentManager &_ecm) const
Get the light attenuation linear value. Light attenuation is not applicable to directional lights.
gazebo::Entity Entity() const
Get the entity which this Light is related to.
void SetAttenuationLinear(EntityComponentManager &_ecm, double _value)
Set attenuation linear value of this light.
Component< bool, class CastShadowsTag > CastShadows
A component used to indicate that an entity casts shadows e.g. visual entities.
Definition: gz/sim/components/CastShadows.hh:34
void SetAttenuationRange(EntityComponentManager &_ecm, double _range)
Set attenuation range of this light.
std::optional< std::string > Name(const EntityComponentManager &_ecm) const
Get the light's unscoped name.
std::optional< math::Pose3d > Pose(const EntityComponentManager &_ecm) const
Get the pose of the light. The pose is given w.r.t the light's parent. which can be a world or a link...
std::optional< double > AttenuationRange(const EntityComponentManager &_ecm) const
Get the light attenuation range. Light attenuation is not applicable to directional lights.
void SetDiffuseColor(EntityComponentManager &_ecm, const math::Color &_color)
Set the diffuse color of this light.
void SetPose(EntityComponentManager &_ecm, const math::Pose3d &_pose)
Set the pose of this light.
bool Valid(const EntityComponentManager &_ecm) const
Check whether this light correctly refers to an entity that has a components::Light.
void SetIntensity(EntityComponentManager &_ecm, double _value)
Set light intensity.
Component< std::string, class NameTag, serializers::StringSerializer > Name
This component holds an entity's name. The component has no concept of scoped names nor does it care ...
Definition: gz/sim/components/Name.hh:37
void SetSpotOuterAngle(EntityComponentManager &_ecm, const math::Angle &_angle)
Set outer angle for this light. Applies to spot lights only.