Mathematical representation of a frustum and related functions. This is also known as a view frustum. More...

#include <FrustumVisual.hh>

Public Member Functions
virtual	~FrustumVisual ()
	Destructor.

virtual double	AspectRatio () const =0
	Get the aspect ratio, which is the width divided by height of the near or far planes.

virtual double	FarClipPlane () const =0
	Get the far distance. This is the distance from the frustum's vertex to the farthest plane.

virtual gz::math::Angle	HFOV () const =0
	Get the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.

virtual double	NearClipPlane () const =0
	Get the near distance. This is the distance from the frustum's vertex to the closest plane.

virtual gz::math::Planed	Plane (const FrustumVisualPlane _plane) const =0
	Get a plane of the frustum.

virtual void	SetAspectRatio (double _aspectRatio)=0
	Set the aspect ratio, which is the width divided by height of the near or far planes.

virtual void	SetFarClipPlane (double _far)=0
	Set the far distance. This is the distance from the frustum's vertex to the farthest plane.

virtual void	SetHFOV (const gz::math::Angle &_hfov)=0
	Set the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.

virtual void	SetNearClipPlane (double _near)=0
	Set the near distance. This is the distance from the frustum's vertex to the closest plane.

virtual void	Update ()=0
	Update the Visual.

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
	FrustumVisual ()
	Default constructor. With the following default values:

Detailed Description

Mathematical representation of a frustum and related functions. This is also known as a view frustum.

Constructor & Destructor Documentation

🔗FrustumVisual()

FrustumVisual ( )

protected

Default constructor. With the following default values:

near: 0.0
far: 1.0
hfov: 0.78539 radians (45 degrees)
aspect ratio: 1.0
pose: Pose3d::Zero

🔗~FrustumVisual()

virtual ~FrustumVisual ( )

virtual

Destructor.

Member Function Documentation

🔗AspectRatio()

virtual double AspectRatio ( ) const

pure virtual

Get the aspect ratio, which is the width divided by height of the near or far planes.

Returns: The frustum's aspect ratio.

See also: SetAspectRatio

Implemented in BaseFrustumVisual< T >, BaseFrustumVisual< Ogre2Visual >, and BaseFrustumVisual< OgreVisual >.

🔗FarClipPlane()

virtual double FarClipPlane ( ) const

pure virtual

Get the far distance. This is the distance from the frustum's vertex to the farthest plane.

Returns: Far distance.

See also: SetFarClipPlane

Implemented in BaseFrustumVisual< T >, BaseFrustumVisual< Ogre2Visual >, and BaseFrustumVisual< OgreVisual >.

🔗HFOV()

virtual gz::math::Angle HFOV ( ) const

pure virtual

Get the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.

Returns: The field of view.

See also: SetHFOV

Implemented in BaseFrustumVisual< T >, BaseFrustumVisual< Ogre2Visual >, and BaseFrustumVisual< OgreVisual >.

🔗NearClipPlane()

virtual double NearClipPlane ( ) const

pure virtual

Get the near distance. This is the distance from the frustum's vertex to the closest plane.

Returns: Near distance.

See also: SetNearClipPlane

Implemented in BaseFrustumVisual< T >, BaseFrustumVisual< Ogre2Visual >, and BaseFrustumVisual< OgreVisual >.

🔗Plane()

virtual gz::math::Planed Plane ( const FrustumVisualPlane _plane ) const

pure virtual

Get a plane of the frustum.

Parameters

[in] _plane The plane to return.

Returns: Plane of the frustum.

Implemented in BaseFrustumVisual< T >, BaseFrustumVisual< Ogre2Visual >, and BaseFrustumVisual< OgreVisual >.

🔗SetAspectRatio()

virtual void SetAspectRatio ( double _aspectRatio )

pure virtual

Set the aspect ratio, which is the width divided by height of the near or far planes.

Parameters

[in] _aspectRatio The frustum's aspect ratio.

See also: AspectRatio

Implemented in BaseFrustumVisual< T >, BaseFrustumVisual< Ogre2Visual >, and BaseFrustumVisual< OgreVisual >.

🔗SetFarClipPlane()

virtual void SetFarClipPlane ( double _far )

pure virtual

Set the far distance. This is the distance from the frustum's vertex to the farthest plane.

Parameters

[in] _far Far distance.

See also: FarClipPlane

Implemented in BaseFrustumVisual< T >, BaseFrustumVisual< Ogre2Visual >, and BaseFrustumVisual< OgreVisual >.

🔗SetHFOV()

virtual void SetHFOV ( const gz::math::Angle & _hfov )

pure virtual

Set the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.

Parameters

[in] _hfov The field of view.

See also: HFOV

Implemented in BaseFrustumVisual< T >, BaseFrustumVisual< Ogre2Visual >, and BaseFrustumVisual< OgreVisual >.

🔗SetNearClipPlane()

virtual void SetNearClipPlane ( double _near )

pure virtual

Set the near distance. This is the distance from the frustum's vertex to the closest plane.

Parameters

[in] _near Near distance.

See also: NearClipPlane

Implemented in BaseFrustumVisual< T >, BaseFrustumVisual< Ogre2Visual >, and BaseFrustumVisual< OgreVisual >.

🔗Update()

virtual void Update ( )

pure virtual

Update the Visual.

Implemented in BaseFrustumVisual< T >, BaseFrustumVisual< Ogre2Visual >, BaseFrustumVisual< OgreVisual >, OgreFrustumVisual, and Ogre2FrustumVisual.

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

FrustumVisual.hh

Gazebo Rendering

API Reference

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

🔗FrustumVisual()

🔗~FrustumVisual()

Member Function Documentation

🔗AspectRatio()

🔗FarClipPlane()

🔗HFOV()

🔗NearClipPlane()

🔗Plane()

🔗SetAspectRatio()

🔗SetFarClipPlane()

🔗SetHFOV()

🔗SetNearClipPlane()

🔗Update()