Represents a light source in the scene graph. More...

#include <gz/rendering/Light.hh>

Public Member Functions
virtual	~Light ()
	Destructor.

virtual double	AttenuationConstant () const =0
	Get the attenuation constant value.

virtual double	AttenuationLinear () const =0
	Get the attenuation linear value.

virtual double	AttenuationQuadratic () const =0
	Get the attenuation quadratic value.

virtual double	AttenuationRange () const =0
	Get the attenuation range.

virtual bool	CastShadows () const =0
	Determine if this light cast shadows.

virtual math::Color	DiffuseColor () const =0
	Get the diffuse color.

virtual double	Intensity () const =0
	Get the light intensity.

virtual void	SetAttenuationConstant (double _value)=0
	Set the attenuation constant value.

virtual void	SetAttenuationLinear (double _value)=0
	Set the attenuation linear value.

virtual void	SetAttenuationQuadratic (double _value)=0
	Set the attenuation quadratic value.

virtual void	SetAttenuationRange (double _range)=0
	Set the attenuation range.

virtual void	SetCastShadows (bool _castShadows)=0
	Specify if this light should cast shadows.

virtual void	SetDiffuseColor (const math::Color &_color)=0
	Set the diffuse color.

virtual void	SetDiffuseColor (double _r, double _g, double _b, double _a=1.0)=0
	Set the diffuse color.

virtual void	SetIntensity (double _intensity)=0
	Set the light intensity.

virtual void	SetSpecularColor (const math::Color &_color)=0
	Set the specular color.

virtual void	SetSpecularColor (double _r, double _g, double _b, double _a=1.0)=0
	Set the specular color.

virtual math::Color	SpecularColor () const =0
	Get the specular color.

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.

Detailed Description

Represents a light source in the scene graph.

Constructor & Destructor Documentation

◆ ~Light()

virtual ~Light ( )

virtual

Destructor.

Member Function Documentation

◆ AttenuationConstant()

virtual double AttenuationConstant ( ) const

pure virtual

Get the attenuation constant value.

Returns: The attenuation constant value

Implemented in OgreLight, and Ogre2Light.

◆ AttenuationLinear()

virtual double AttenuationLinear ( ) const

pure virtual

Get the attenuation linear value.

Returns: The attenuation linear value

Implemented in OgreLight, and Ogre2Light.

◆ AttenuationQuadratic()

virtual double AttenuationQuadratic ( ) const

pure virtual

Get the attenuation quadratic value.

Returns: The attenuation quadratic value

Implemented in OgreLight, and Ogre2Light.

◆ AttenuationRange()

virtual double AttenuationRange ( ) const

pure virtual

Get the attenuation range.

Returns: The attenuation range

Implemented in OgreLight, and Ogre2Light.

◆ CastShadows()

virtual bool CastShadows ( ) const

pure virtual

Determine if this light cast shadows.

Returns: True if this light cast shadows

Implemented in OgreLight, and Ogre2Light.

◆ DiffuseColor()

virtual math::Color DiffuseColor ( ) const

pure virtual

Get the diffuse color.

Returns: The diffuse color

Implemented in OgreLight, and Ogre2Light.

◆ Intensity()

virtual double Intensity ( ) const

pure virtual

Get the light intensity.

Returns: The light intensity

Implemented in OgreLight, and Ogre2Light.

◆ SetAttenuationConstant()

virtual void SetAttenuationConstant ( double _value )

pure virtual

Set the attenuation constant value.

Parameters

[in] _value New attenuation constant value

Implemented in OgreLight, Ogre2Light, BaseLight< T >, BaseLight< Ogre2Node >, and BaseLight< OgreNode >.

◆ SetAttenuationLinear()

virtual void SetAttenuationLinear ( double _value )

pure virtual

Set the attenuation linear value.

Parameters

[in] _value New attenuation linear value

Implemented in OgreLight, Ogre2Light, BaseLight< T >, BaseLight< Ogre2Node >, and BaseLight< OgreNode >.

◆ SetAttenuationQuadratic()

virtual void SetAttenuationQuadratic ( double _value )

pure virtual

Set the attenuation quadratic value.

Parameters

[in] _value New attenuation quadratic value

Implemented in OgreLight, Ogre2Light, BaseLight< T >, BaseLight< Ogre2Node >, and BaseLight< OgreNode >.

◆ SetAttenuationRange()

virtual void SetAttenuationRange ( double _range )

pure virtual

Set the attenuation range.

Parameters

[in] _range New attenuation range

Implemented in OgreLight, Ogre2Light, BaseLight< T >, BaseLight< Ogre2Node >, and BaseLight< OgreNode >.

◆ SetCastShadows()

virtual void SetCastShadows ( bool _castShadows )

pure virtual

Specify if this light should cast shadows.

Parameters

[in] _castShadows True if this light cast shadows

Implemented in OgreLight, Ogre2Light, BaseLight< T >, BaseLight< Ogre2Node >, and BaseLight< OgreNode >.

◆ SetDiffuseColor() [1/2]

virtual void SetDiffuseColor ( const math::Color & _color )

pure virtual

Set the diffuse color.

Parameters

[in] _color New diffuse color

Implemented in OgreLight, Ogre2Light, BaseLight< T >, BaseLight< Ogre2Node >, and BaseLight< OgreNode >.

◆ SetDiffuseColor() [2/2]

virtual void SetDiffuseColor	(	double	_r,
		double	_g,
		double	_b,
		double	_a = `1.0`
	)

pure virtual

Set the diffuse color.

Parameters

[in]	_r	Red value
[in]	_g	Green value
[in]	_b	Blue value
[in]	_a	Alpha value

Implemented in BaseLight< T >, BaseLight< Ogre2Node >, and BaseLight< OgreNode >.

◆ SetIntensity()

virtual void SetIntensity ( double _intensity )

pure virtual

Set the light intensity.

Parameters

[in] _intensity New light intensity

Implemented in OgreLight, and Ogre2Light.

◆ SetSpecularColor() [1/2]

virtual void SetSpecularColor ( const math::Color & _color )

pure virtual

Set the specular color.

Parameters

[in] _color New specular color

Implemented in OgreLight, Ogre2Light, BaseLight< T >, BaseLight< Ogre2Node >, and BaseLight< OgreNode >.

◆ SetSpecularColor() [2/2]

virtual void SetSpecularColor	(	double	_r,
		double	_g,
		double	_b,
		double	_a = `1.0`
	)

pure virtual

Set the specular color.

Parameters

[in]	_r	Red value
[in]	_g	Green value
[in]	_b	Blue value
[in]	_a	Alpha value

Implemented in BaseLight< T >, BaseLight< Ogre2Node >, and BaseLight< OgreNode >.

◆ SpecularColor()

virtual math::Color SpecularColor ( ) const

pure virtual

Get the specular color.

Returns: The specular color

Implemented in OgreLight, and Ogre2Light.

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

Light.hh

Gazebo Rendering

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~Light()

Member Function Documentation

◆ AttenuationConstant()

◆ AttenuationLinear()

◆ AttenuationQuadratic()

◆ AttenuationRange()

◆ CastShadows()

◆ DiffuseColor()

◆ Intensity()

◆ SetAttenuationConstant()

◆ SetAttenuationLinear()

◆ SetAttenuationQuadratic()

◆ SetAttenuationRange()

◆ SetCastShadows()

◆ SetDiffuseColor() [1/2]

◆ SetDiffuseColor() [2/2]

◆ SetIntensity()

◆ SetSpecularColor() [1/2]

◆ SetSpecularColor() [2/2]

◆ SpecularColor()