A base implementation of the Projector class. More...

#include <BaseProjector.hh>

Public Member Functions
virtual	~BaseProjector ()
	Destructor.

virtual double	FarClipPlane () const override
	Get the projector's far clipping plane distance.

virtual math::Angle	HFOV () const override
	Get the projector's horizontal field-of-view.

bool	IsEnabled () const override
	Get whether the projector is enabled or disabled.

virtual double	NearClipPlane () const override
	Get the projector's near clipping plane distance.

void	SetEnabled (bool _enabled) override
	Set whether the projector is enabled or disabled.

virtual void	SetFarClipPlane (double _far) override
	Set the projector's far clipping plane distance.

virtual void	SetHFOV (const math::Angle &_hfov) override
	Set the projector's horizontal field-of-view.

virtual void	SetNearClipPlane (double _near) override
	Set the projector's near clipping plane distance.

void	SetTexture (const std::string &_texture) override
	Load a texture into the projector.

virtual std::string	Texture () const override
	Get the URI of the texture file used by the projector.

Public Member Functions inherited from Projector
virtual	~Projector ()
	Destructor.

Public Member Functions inherited from Visual
virtual	~Visual ()
	Destructor.

virtual void	AddGeometry (GeometryPtr _geometry)=0
	Add the given geometry to this visual. If the given node is already attached, no work will be done.

virtual void	AddVisibilityFlags (uint32_t _flags)=0
	Add visibility flags.

virtual gz::math::AxisAlignedBox	BoundingBox () const =0
	Get the bounding box in world frame coordinates.

virtual VisualPtr	Clone (const std::string &_name, NodePtr _newParent) const =0
	Clone the visual (and its children) with a new name.

virtual GeometryPtr	GeometryByIndex (unsigned int _index) const =0
	Get geometry at given index. If no geometry exists at given index, NULL will be returned.

virtual unsigned int	GeometryCount () const =0
	Get the number of geometries attached to this visual.

virtual bool	HasGeometry (ConstGeometryPtr _geometry) const =0
	Determine if given geometry is attached to this visual.

virtual gz::math::AxisAlignedBox	LocalBoundingBox () const =0
	Get the local bounding box of the visual.

virtual MaterialPtr	Material () const =0
	Get the material assigned to attached visuals and geometries.

virtual void	RemoveGeometries ()=0
	Remove all attached geometries from this visual.

virtual GeometryPtr	RemoveGeometry (GeometryPtr _geometry)=0
	Remove the given geometry from this visual. If the given node is not a child of this visual, no work will be done.

virtual GeometryPtr	RemoveGeometryByIndex (unsigned int _index)=0
	Remove the geometry at the given index from this visual. If the specified node is not attached this visual, no work will be done.

virtual void	RemoveVisibilityFlags (uint32_t _flags)=0
	Remove visibility flags.

virtual void	SetChildMaterial (MaterialPtr _material, bool _unique=true)=0
	Set the material for all attached visuals only.

virtual void	SetGeometryMaterial (MaterialPtr _material, bool _unique=true)=0
	Set the material for all attached geometries only.

virtual void	SetMaterial (const std::string &_name, bool _unique=true)=0
	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.

virtual void	SetMaterial (MaterialPtr _material, bool _unique=true)=0
	Set the material for all attached visuals and geometries.

virtual void	SetStatic (bool _static)=0
	Tells Render Engine this Visual will be static (i.e. won't move, rotate or scale) You can still move, rotate or scale the Visual; however doing so has a performance impact. How much of an impact will depend on the rendering backend being used.

virtual void	SetVisibilityFlags (uint32_t _flags)=0
	Set visibility flags.

virtual void	SetVisible (bool _visible)=0
	Specify if this visual is visible.

virtual void	SetWireframe (bool _show)=0
	Enable or disable wireframe.

virtual bool	Static () const =0
	Get whether the visual is static.

virtual uint32_t	VisibilityFlags () const =0
	Get visibility flags.

virtual bool	Wireframe () const =0
	Get whether wireframe is enabled for this visual.

Public Member Functions inherited from Node
virtual	~Node ()
	Destructor.

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.

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

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

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.

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

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

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

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

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

virtual bool	HasUserData (const std::string &_key) const =0
	Check if node has custom data.

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

virtual math::Pose3d	InitialLocalPose () const =0
	Get the initial local pose.

virtual math::Pose3d	LocalPose () const =0
	Get the local pose.

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

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

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

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

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

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.

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.

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.

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.

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

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

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

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.

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

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

virtual void	SetLocalPose (const math::Pose3d &_pose)=0
	Set the local pose.

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

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

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

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

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

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

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

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

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

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.

virtual void	SetUserData (const std::string &_key, Variant _value)=0
	Store any custom data associated with this node.

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

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

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

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

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

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

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

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

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

virtual Variant	UserData (const std::string &_key) const =0
	Get custom data stored in this node.

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

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

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

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

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

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

virtual void	Destroy ()=0
	Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior.

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.

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.

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

virtual void	PreRender ()=0
	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.

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

Protected Member Functions
	BaseProjector ()
	Constructor.

Protected Attributes
bool	enabled = false
	Indicates whether or not the projector is enabled.

double	farClip = 10.0
	Projector's far clip plane.

math::Angle	hfov = math::Angle(0.785398)
	Projector's horizontal field of view.

double	nearClip = 0.1
	Projector's near clip plane.

std::string	textureName
	Texture used by the projector.

Detailed Description

template<class T>
class gz::rendering::BaseProjector< T >

A base implementation of the Projector class.

Constructor & Destructor Documentation

◆ BaseProjector()

template<class T >

BaseProjector ( )

protected

Constructor.

◆ ~BaseProjector()

template<class T >

~BaseProjector ( )

virtual

Destructor.

Member Function Documentation

◆ FarClipPlane()

template<class T >

double FarClipPlane ( ) const

overridevirtual

Get the projector's far clipping plane distance.

Returns: Far clipping plane distance

Implements Projector.

◆ HFOV()

template<class T >

math::Angle HFOV ( ) const

overridevirtual

Get the projector's horizontal field-of-view.

Returns: Angle containing the projector's horizontal field-of-view

Implements Projector.

◆ IsEnabled()

template<class T >

bool IsEnabled ( ) const

overridevirtual

Get whether the projector is enabled or disabled.

Returns: true if enabled, false otherwise

Implements Projector.

◆ NearClipPlane()

template<class T >

double NearClipPlane ( ) const

overridevirtual

Get the projector's near clipping plane distance.

Returns: Near clipping plane distance

Implements Projector.

◆ SetEnabled()

template<class T >

void SetEnabled ( bool _enabled )

overridevirtual

Set whether the projector is enabled or disabled.

Parameters

[in] _enabled True to enable the projector.

Implements Projector.

Reimplemented in OgreProjector, and Ogre2Projector.

◆ SetFarClipPlane()

template<class T >

void SetFarClipPlane ( double _far )

overridevirtual

Set the projector's far clipping plane distance.

Parameters

[in] _far Far clipping plane distance

Implements Projector.

◆ SetHFOV()

template<class T >

void SetHFOV ( const math::Angle & _hfov )

overridevirtual

Set the projector's horizontal field-of-view.

Parameters

[in] _hfov Desired horizontal field-of-view

Implements Projector.

◆ SetNearClipPlane()

template<class T >

void SetNearClipPlane ( double _near )

overridevirtual

Set the projector's near clipping plane distance.

Parameters

[in] _near Near clipping plane distance

Implements Projector.

◆ SetTexture()

template<class T >

void SetTexture ( const std::string & _texture )

overridevirtual

Load a texture into the projector.

Parameters

[in] _texture Name of the texture to project.

Implements Projector.

◆ Texture()

template<class T >

std::string Texture ( ) const

overridevirtual

Get the URI of the texture file used by the projector.

Returns: URI of the texture file

Implements Projector.

Member Data Documentation

◆ enabled

template<class T >

bool enabled = false

protected

Indicates whether or not the projector is enabled.

◆ farClip

template<class T >

double farClip = 10.0

protected

Projector's far clip plane.

◆ hfov

template<class T >

math::Angle hfov = math::Angle(0.785398)

protected

Projector's horizontal field of view.

◆ nearClip

template<class T >

double nearClip = 0.1

protected

Projector's near clip plane.

◆ textureName

template<class T >

std::string textureName

protected

Texture used by the projector.

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

BaseProjector.hh

Gazebo Rendering

API Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BaseProjector()

◆ ~BaseProjector()

Member Function Documentation

◆ FarClipPlane()

◆ HFOV()

◆ IsEnabled()

◆ NearClipPlane()

◆ SetEnabled()

◆ SetFarClipPlane()

◆ SetHFOV()

◆ SetNearClipPlane()

◆ SetTexture()

◆ Texture()

Member Data Documentation

◆ enabled

◆ farClip

◆ hfov

◆ nearClip

◆ textureName