#include <BaseVisual.hh>

Public Member Functions
virtual	~BaseVisual ()

virtual void	AddGeometry (GeometryPtr _geometry) override
	Add the given geometry to this visual. If the given node is already attached, no work will be done. More...

virtual void	Destroy () override
	Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior. More...

virtual GeometryPtr	GeometryByIndex (unsigned int _index) const override
	Get geometry at given index. If no geometry exists at given index, NULL will be returned. More...

virtual unsigned int	GeometryCount () const override
	Get the number of geometries attached to this visual. More...

virtual bool	HasGeometry (ConstGeometryPtr _geometry) const override
	Determine if given geometry is attached to this visual. More...

virtual math::Pose3d	LocalPose () const override
	Get the local pose. More...

virtual MaterialPtr	Material () override
	Get the material assigned to attached visuals and geometries. More...

virtual void	PreRender () override
	Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender. More...

virtual void	RemoveGeometries () override
	Remove all attached geometries from this visual. More...

virtual GeometryPtr	RemoveGeometry (GeometryPtr _geometry) override
	Remove the given geometry from this visual. If the given node is not a child of this visual, no work will be done. More...

virtual GeometryPtr	RemoveGeometryByIndex (unsigned int _index) override
	Remove the geometry at the given index from this visual. If the specified node is not attached this visual, no work will be done. More...

virtual void	SetChildMaterial (MaterialPtr _material, bool _unique=true) override
	Set the material for all attached visuals only. More...

virtual void	SetGeometryMaterial (MaterialPtr _material, bool _unique=true) override
	Set the material for all attached geometries only. More...

virtual void	SetLocalPose (const math::Pose3d &_pose) override
	Set the local pose. More...

virtual void	SetMaterial (const std::string &_name, bool _unique=true) override
	Set the material for all attached visuals and geometries. The specified material will be retrieved from Scene::Material using the given material name. If no material is registered with the given name, no work will be done. More...

virtual void	SetMaterial (MaterialPtr _material, bool _unique=true) override
	Set the material for all attached visuals and geometries. More...

virtual void	SetUserData (const std::string &_key, Variant _value) override
	Store any custom data associated with this visual. More...

virtual void	SetVisible (bool _visible) override
	Specify if this visual is visible. More...

virtual Variant	UserData (const std::string &_key) const override
	Get custom data stored in this visual. More...

Public Member Functions inherited from Visual
virtual	~Visual ()
	Deconstructor. More...

Public Member Functions inherited from Node
virtual	~Node ()
	Deconstructor. More...

virtual void	AddChild (NodePtr _child)=0
	Add the given node to this node. If the given node is already a child, no work will be done. More...

virtual NodePtr	ChildById (unsigned int _id) const =0
	Get node with given ID. If no child exists with given ID, NULL will be returned. More...

virtual NodePtr	ChildByIndex (unsigned int _index) const =0
	Get node at given index. If no child exists at given index, NULL will be returned. More...

virtual NodePtr	ChildByName (const std::string &_name) const =0
	Get node with given name. If no child exists with given name, NULL will be returned. More...

virtual unsigned int	ChildCount () const =0
	Get number of child nodes. More...

virtual bool	HasChild (ConstNodePtr _child) const =0
	Determine if given node is an attached child. More...

virtual bool	HasChildId (unsigned int _id) const =0
	Determine if node with given ID is an attached child. More...

virtual bool	HasChildName (const std::string &_name) const =0
	Determine if node with given name is an attached child. More...

virtual bool	HasParent () const =0
	Determine if this Node is attached to another Node. More...

virtual bool	InheritScale () const =0
	Determine if this visual inherits scale from this parent. More...

virtual math::Vector3d	LocalPosition () const =0
	Get the local position. More...

virtual math::Quaterniond	LocalRotation () const =0
	Get the local rotation. More...

virtual math::Vector3d	LocalScale () const =0
	Get the local scale. More...

virtual math::Vector3d	Origin () const =0
	Get position of origin. More...

virtual NodePtr	Parent () const =0
	Get the parent Node. More...

virtual NodePtr	RemoveChild (NodePtr _child)=0
	Remove (detach) the given node from this node. If the given node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildById (unsigned int _id)=0
	Remove (detach) the node with the given ID from this node. If the specified node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildByIndex (unsigned int _index)=0
	Remove (detach) the node at the given index from this node. If the specified node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildByName (const std::string &_name)=0
	Remove (detach) the node with the given name from this node. If the specified node is not a child of this node, no work will be done. More...

virtual void	RemoveChildren ()=0
	Remove all child nodes from this node This detaches all the child nodes but does not destroy them. More...

virtual void	RemoveParent ()=0
	Detach this Node from its parent. If this Node does not have a parent, no work will be done. More...

virtual void	Scale (const math::Vector3d &_scale)=0
	Scale the current scale by the given scalars. More...

virtual void	Scale (double _scale)=0
	Scale the current scale by the given scalar. The given scalar will be assigned to the x, y, and z coordinates. More...

virtual void	Scale (double _x, double _y, double _z)=0
	Scale the current scale by the given scalars. More...

virtual void	SetInheritScale (bool _inherit)=0
	Specify if this visual inherits scale from its parent. More...

virtual void	SetLocalPosition (const math::Vector3d &_position)=0
	Set the local position. More...

virtual void	SetLocalPosition (double _x, double _y, double _z)=0
	Set the local position. More...

virtual void	SetLocalRotation (const math::Quaterniond &_rotation)=0
	Set the local rotation. More...

virtual void	SetLocalRotation (double _r, double _p, double _y)=0
	Set the local rotation. More...

virtual void	SetLocalRotation (double _w, double _x, double _y, double _z)=0
	Set the local rotation. More...

virtual void	SetLocalScale (const math::Vector3d &_scale)=0
	Set the local scale. More...

virtual void	SetLocalScale (double _scale)=0
	Set the local scale. The given scale will be assigned to the x, y, and z coordinates. More...

virtual void	SetLocalScale (double _x, double _y, double _z)=0
	Set the local scale. More...

virtual void	SetOrigin (const math::Vector3d &_origin)=0
	Set position of origin. The position should be relative to the original origin of the geometry. More...

virtual void	SetOrigin (double _x, double _y, double _z)=0
	Set position of origin. The position should be relative to the original origin of the geometry. More...

virtual void	SetWorldPose (const math::Pose3d &_pose)=0
	Set the world pose. More...

virtual void	SetWorldPosition (const math::Vector3d &_position)=0
	Set the world position. More...

virtual void	SetWorldPosition (double _x, double _y, double _z)=0
	Set the world position. More...

virtual void	SetWorldRotation (const math::Quaterniond &_rotation)=0
	Set the world rotation. More...

virtual void	SetWorldRotation (double _r, double _p, double _y)=0
	Set the world rotation. More...

virtual void	SetWorldRotation (double _w, double _x, double _y, double _z)=0
	Set the world rotation. More...

virtual void	SetWorldScale (const math::Vector3d &_scale)=0
	Set the world scale. More...

virtual void	SetWorldScale (double _scale)=0
	Set the world scale. The given scale will be assigned to the x, y, and z coordinates. More...

virtual void	SetWorldScale (double _x, double _y, double _z)=0
	Set the world scale. More...

virtual math::Pose3d	WorldPose () const =0
	Get the world pose. More...

virtual math::Vector3d	WorldPosition () const =0
	Get the world position. More...

virtual math::Quaterniond	WorldRotation () const =0
	Get the world rotation. More...

virtual math::Vector3d	WorldScale () const =0
	Get the world scale. More...

virtual math::Pose3d	WorldToLocal (const math::Pose3d &_pose) const =0
	Convert given world pose to local pose. More...

Public Member Functions inherited from Object
virtual	~Object ()
	Destructor. More...

virtual unsigned int	Id () const =0
	Get the object ID. This ID will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual std::string	Name () const =0
	Get the object name. This name will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual void	PostRender ()=0
	Post process this object and any of its children after rendering. More...

virtual ScenePtr	Scene () const =0
	Get the Scene that created this object. More...

Protected Member Functions
	BaseVisual ()

virtual bool	AttachGeometry (GeometryPtr _geometry)=0

virtual bool	DetachGeometry (GeometryPtr _geometry)=0

virtual GeometryStorePtr	Geometries () const =0

virtual void	PreRenderChildren () override

virtual void	PreRenderGeometries ()

Protected Attributes
MaterialPtr	material
	Pointer to material assigned to this visual. More...

std::map< std::string, Variant >	userData
	A map of custom key value data. More...

Constructor & Destructor Documentation

◆ BaseVisual()

BaseVisual

protected

◆ ~BaseVisual()

~BaseVisual

virtual

Member Function Documentation

◆ AddGeometry()

void AddGeometry ( GeometryPtr _geometry )

overridevirtual

Add the given geometry to this visual. If the given node is already attached, no work will be done.

Parameters

[in] _geometry Geometry to be added

Implements Visual.

◆ AttachGeometry()

virtual bool AttachGeometry ( GeometryPtr _geometry )

protectedpure virtual

Implemented in Ogre2Visual, and OgreVisual.

◆ Destroy()

void Destroy ( )

overridevirtual

Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior.

Implements Object.

◆ DetachGeometry()

virtual bool DetachGeometry ( GeometryPtr _geometry )

protectedpure virtual

Implemented in Ogre2Visual, and OgreVisual.

◆ Geometries()

virtual GeometryStorePtr Geometries ( ) const

protectedpure virtual

◆ GeometryByIndex()

GeometryPtr GeometryByIndex ( unsigned int _index ) const

overridevirtual

Get geometry at given index. If no geometry exists at given index, NULL will be returned.

Parameters

[in] _index Index of the desired geometry

Returns: The specified geometry

Implements Visual.

◆ GeometryCount()

unsigned int GeometryCount ( ) const

overridevirtual

Get the number of geometries attached to this visual.

Returns: The number of geometries attached to this visual

Implements Visual.

◆ HasGeometry()

bool HasGeometry ( ConstGeometryPtr _geometry ) const

overridevirtual

Determine if given geometry is attached to this visual.

Parameters

[in] _geometry Geometry in question

Returns: True if given node is attached to this visual

Implements Visual.

◆ LocalPose()

math::Pose3d LocalPose ( ) const

overridevirtual

Get the local pose.

Returns: The local pose

Implements Node.

◆ Material()

MaterialPtr Material ( )

overridevirtual

Get the material assigned to attached visuals and geometries.

Returns: the Pointer to the material assigned to this visual. If the material is cloned at the time it is set to this visual, the cloned material will be returned.

Implements Visual.

◆ PreRender()

void PreRender ( )

overridevirtual

Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender.

Implements Object.

Reimplemented in BaseGizmoVisual< OgreVisual >, and BaseGizmoVisual< Ogre2Visual >.

◆ PreRenderChildren()

void PreRenderChildren

overrideprotectedvirtual

◆ PreRenderGeometries()

void PreRenderGeometries

protectedvirtual

◆ RemoveGeometries()

void RemoveGeometries ( )

overridevirtual

Remove all attached geometries from this visual.

Implements Visual.

◆ RemoveGeometry()

GeometryPtr RemoveGeometry ( GeometryPtr _geometry )

overridevirtual

Remove the given geometry from this visual. If the given node is not a child of this visual, no work will be done.

Parameters

[in] _geometry Geometry to be removed

Returns: The removed geometry

Implements Visual.

◆ RemoveGeometryByIndex()

GeometryPtr RemoveGeometryByIndex ( unsigned int _index )

overridevirtual

Remove the geometry at the given index from this visual. If the specified node is not attached this visual, no work will be done.

Parameters

[in] _index Index of the geometry to be removed

Returns: The removed geometry

Implements Visual.

◆ SetChildMaterial()

void SetChildMaterial	(	MaterialPtr	_material,
		bool	_unique = `true`
	)

overridevirtual

Set the material for all attached visuals only.

Parameters

[in]	_material	Name of the material to be assigned
[in]	_unique	True if the specified material should be cloned

Implements Visual.

◆ SetGeometryMaterial()

void SetGeometryMaterial	(	MaterialPtr	_material,
		bool	_unique = `true`
	)

overridevirtual

Set the material for all attached geometries only.

Parameters

[in]	_material	Name of the material to be assigned
[in]	_unique	True if the specified material should be cloned

Implements Visual.

◆ SetLocalPose()

void SetLocalPose ( const math::Pose3d & _pose )

overridevirtual

Set the local pose.

Parameters

[in] _pose New local pose

Implements Node.

◆ SetMaterial() [1/2]

void SetMaterial	(	const std::string &	_name,
		bool	_unique = `true`
	)

overridevirtual

Set the material for all attached visuals and geometries. The specified material will be retrieved from Scene::Material using the given material name. If no material is registered with the given name, no work will be done.

Parameters

[in]	_name	Name of the material to be assigned
[in]	_unique	True if the specified material should be cloned

Implements Visual.

◆ SetMaterial() [2/2]

void SetMaterial	(	MaterialPtr	_material,
		bool	_unique = `true`
	)

overridevirtual

Set the material for all attached visuals and geometries.

Parameters

[in]	_material	Name of the material to be assigned
[in]	_unique	True if the specified material should be cloned

Implements Visual.

◆ SetUserData()

void SetUserData	(	const std::string &	_key,
		Variant	_value
	)

overridevirtual

Store any custom data associated with this visual.

Parameters

[in]	_key	Unique key
[in]	_value	Value in any type

Implements Visual.

◆ SetVisible()

void SetVisible ( bool _visible )

overridevirtual

Specify if this visual is visible.

Parameters

[in] _visible True if this visual should be made visible

Implements Visual.

Reimplemented in Ogre2Visual, and OgreVisual.

◆ UserData()

Variant UserData ( const std::string & _key ) const

overridevirtual

Get custom data stored in this visual.

Parameters

[in] _key Unique key

Returns: Data associated with the key.

Implements Visual.

Member Data Documentation

◆ material

MaterialPtr material

protected

Pointer to material assigned to this visual.

◆ userData

std::map<std::string, Variant> userData

protected

A map of custom key value data.

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

gz/rendering/base/BaseVisual.hh

Gazebo Rendering

API Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ BaseVisual()

◆ ~BaseVisual()

Member Function Documentation

◆ AddGeometry()

◆ AttachGeometry()

◆ Destroy()

◆ DetachGeometry()

◆ Geometries()

◆ GeometryByIndex()

◆ GeometryCount()

◆ HasGeometry()

◆ LocalPose()

◆ Material()

◆ PreRender()

◆ PreRenderChildren()

◆ PreRenderGeometries()

◆ RemoveGeometries()

◆ RemoveGeometry()

◆ RemoveGeometryByIndex()

◆ SetChildMaterial()

◆ SetGeometryMaterial()

◆ SetLocalPose()

◆ SetMaterial() [1/2]

◆ SetMaterial() [2/2]

◆ SetUserData()

◆ SetVisible()

◆ UserData()

Member Data Documentation

◆ material

◆ userData