Gazebo Rendering

API Reference

8.2.1
RenderTarget.hh
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1 /*
2  * Copyright (C) 2015 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License") = 0;
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16  */
17 #ifndef GZ_RENDERING_RENDERTARGET_HH_
18 #define GZ_RENDERING_RENDERTARGET_HH_
19 
20 #include <string>
21 
22 #include <gz/math/Color.hh>
23 
24 #include "gz/rendering/config.hh"
26 #include "gz/rendering/Image.hh"
27 #include "gz/rendering/Object.hh"
28 
29 namespace gz
30 {
31  namespace rendering
32  {
33  inline namespace GZ_RENDERING_VERSION_NAMESPACE {
34  //
37  class GZ_RENDERING_VISIBLE RenderTarget :
38  public virtual Object
39  {
41  public: virtual ~RenderTarget();
42 
45  public: virtual unsigned int Width() const = 0;
46 
49  public: virtual unsigned int Height() const = 0;
50 
53  public: virtual void SetWidth(const unsigned int _width) = 0;
54 
57  public: virtual void SetHeight(const unsigned int _height) = 0;
58 
61  public: virtual PixelFormat Format() const = 0;
62 
68  public: virtual void SetFormat(PixelFormat _format,
69  bool _reinterpretable = false) = 0;
70 
73  public: virtual bool Reinterpretable() const = 0;
74 
81  public: virtual void Copy(Image &_image) const = 0;
82 
86  public: virtual math::Color BackgroundColor() const = 0;
87 
92  public: virtual void PreRender(const CameraPtr &_camera) = 0;
93 
96  public: virtual void AddRenderPass(const RenderPassPtr &_pass) = 0;
97 
100  public: virtual void RemoveRenderPass(const RenderPassPtr &_pass) = 0;
101 
103  public: virtual void RemoveAllRenderPasses() = 0;
104 
107  public: virtual unsigned int RenderPassCount() const = 0;
108 
111  public: virtual RenderPassPtr RenderPassByIndex(unsigned int _index)
112  const = 0;
113  };
114 
115  /* \class RenderTexture RenderTexture.hh \
116  * gz/rendering/RenderTexture.hh
117  */
120  class GZ_RENDERING_VISIBLE RenderTexture :
121  public virtual RenderTarget
122  {
124  public: virtual ~RenderTexture();
125 
127  // if this is an OpenGL render texture
128  public: virtual unsigned int GLId() const = 0;
129 
135  public: virtual void MetalId(void *_textureIdPtr) const = 0;
136  };
137 
138  /* \class RenderWindow RenderWindow.hh \
139  * gz/rendering/RenderWindow.hh
140  */
143  class GZ_RENDERING_VISIBLE RenderWindow :
144  public virtual RenderTarget
145  {
147  public: virtual ~RenderWindow();
148 
151  public: virtual std::string Handle() const = 0;
152 
155  public: virtual void SetHandle(const std::string &_handle) = 0;
156 
159  public: virtual double DevicePixelRatio() const = 0;
160 
163  public: virtual void SetDevicePixelRatio(const double _ratio) = 0;
164 
168  public: virtual void OnResize(unsigned int _width,
169  unsigned int _height) = 0;
170 
172  public: virtual void OnMove() = 0;
173  };
174  }
175  }
176 }
177 #endif