World.hh
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1 /*
2  * Copyright 2017 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
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 SDF_WORLD_HH_
18 #define SDF_WORLD_HH_
19 
20 #include <memory>
21 #include <optional>
22 #include <string>
23 #include <gz/math/SphericalCoordinates.hh>
24 #include <gz/math/Vector3.hh>
25 #include <gz/utils/ImplPtr.hh>
26 
27 #include "sdf/Atmosphere.hh"
28 #include "sdf/Element.hh"
29 #include "sdf/Gui.hh"
30 #include "sdf/OutputConfig.hh"
31 #include "sdf/ParserConfig.hh"
32 #include "sdf/Plugin.hh"
33 #include "sdf/Scene.hh"
34 #include "sdf/Types.hh"
35 #include "sdf/sdf_config.h"
36 #include "sdf/system_util.hh"
37 
38 namespace sdf
39 {
40  // Inline bracket to help doxygen filtering.
41  inline namespace SDF_VERSION_NAMESPACE {
42  //
43 
44  // Forward declare private data class.
45  class Actor;
46  class Frame;
47  class InterfaceModel;
48  class Light;
49  class Model;
50  class ParserConfig;
51  class Physics;
52  class NestedInclude;
53  struct PoseRelativeToGraph;
54  struct FrameAttachedToGraph;
55  template <typename T> class ScopedGraph;
56 
58  {
60  public: World();
61 
68  public: Errors Load(ElementPtr _sdf);
69 
77  public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
78 
83  public: Errors ValidateGraphs() const;
84 
87  public: std::string Name() const;
88 
91  public: void SetName(const std::string &_name);
92 
97  public: std::string AudioDevice() const;
98 
103  public: void SetAudioDevice(const std::string &_device);
104 
109  public: gz::math::Vector3d WindLinearVelocity() const;
110 
115  public: void SetWindLinearVelocity(const gz::math::Vector3d &_wind);
116 
122  public: gz::math::Vector3d Gravity() const;
123 
127  public: void SetGravity(const gz::math::Vector3d &_gravity);
128 
135  public: gz::math::Vector3d MagneticField() const;
136 
143  public: void SetMagneticField(const gz::math::Vector3d &_mag);
144 
147  public: const gz::math::SphericalCoordinates *
148  SphericalCoordinates() const;
149 
152  public: void SetSphericalCoordinates(
153  const gz::math::SphericalCoordinates &_coord);
154 
160  public: uint64_t ModelCount() const;
161 
168  public: const Model *ModelByIndex(const uint64_t _index) const;
169 
176  public: Model *ModelByIndex(uint64_t _index);
177 
185  public: const Model *ModelByName(const std::string &_name) const;
186 
194  public: Model *ModelByName(const std::string &_name);
195 
201  public: bool ModelNameExists(const std::string &_name) const;
202 
207  public: bool AddModel(const Model &_model);
208 
213  public: bool AddActor(const Actor &_actor);
214 
219  public: bool AddLight(const Light &_light);
220 
225  public: bool AddPhysics(const Physics &_physics);
226 
231  public: bool AddFrame(const Frame &_frame);
232 
234  public: void ClearModels();
235 
237  public: void ClearActors();
238 
240  public: void ClearLights();
241 
243  public: void ClearPhysics();
244 
246  public: void ClearFrames();
247 
250  public: uint64_t ActorCount() const;
251 
257  public: const Actor *ActorByIndex(const uint64_t _index) const;
258 
264  public: Actor *ActorByIndex(uint64_t _index);
265 
269  public: bool ActorNameExists(const std::string &_name) const;
270 
276  public: uint64_t FrameCount() const;
277 
285  public: const Frame *FrameByIndex(const uint64_t _index) const;
286 
294  public: Frame *FrameByIndex(uint64_t _index);
295 
302  public: const Frame *FrameByName(const std::string &_name) const;
303 
310  public: Frame *FrameByName(const std::string &_name);
311 
317  public: bool FrameNameExists(const std::string &_name) const;
318 
321  public: uint64_t LightCount() const;
322 
328  public: const Light *LightByIndex(const uint64_t _index) const;
329 
335  public: Light *LightByIndex(uint64_t _index);
336 
340  public: bool LightNameExists(const std::string &_name) const;
341 
346  public: const sdf::Atmosphere *Atmosphere() const;
347 
350  public: void SetAtmosphere(const sdf::Atmosphere &_atmosphere);
351 
356  public: const sdf::Gui *Gui() const;
357 
360  public: void SetGui(const sdf::Gui &_gui);
361 
366  public: const sdf::Scene *Scene() const;
367 
370  public: void SetScene(const sdf::Scene &_scene);
371 
376  public: sdf::ElementPtr Element() const;
377 
380  public: uint64_t PhysicsCount() const;
381 
388  public: const Physics *PhysicsByIndex(const uint64_t _index) const;
389 
396  public: Physics *PhysicsByIndex(uint64_t _index);
397 
400  public: const Physics *PhysicsDefault() const;
401 
405  public: bool PhysicsNameExists(const std::string &_name) const;
406 
411  public: uint64_t InterfaceModelCount() const;
412 
419  public: std::shared_ptr<const InterfaceModel> InterfaceModelByIndex(
420  const uint64_t _index) const;
421 
429  public: const NestedInclude* InterfaceModelNestedIncludeByIndex(
430  const uint64_t _index) const;
431 
438  public: sdf::ElementPtr ToElement(
439  const OutputConfig &_config = OutputConfig::GlobalConfig()) const;
440 
444  public: const sdf::Plugins &Plugins() const;
445 
449  public: sdf::Plugins &Plugins();
450 
452  public: void ClearPlugins();
453 
456  public: void AddPlugin(const Plugin &_plugin);
457 
462  private: void SetPoseRelativeToGraph(
464 
469  private: void SetFrameAttachedToGraph(
471 
474  friend class Root;
475 
477  IGN_UTILS_IMPL_PTR(dataPtr)
478  };
479  }
480 }
481 #endif
sdf::SDF_VERSION_NAMESPACE::OutputConfig
This class contains configuration options for SDF output.
Definition: OutputConfig.hh:58
Gui.hh
sdf::SDF_VERSION_NAMESPACE::Model
Definition: Model.hh:54
Scene.hh
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:34
sdf::SDF_VERSION_NAMESPACE::Physics
The physics element specifies the type and properties of a dynamics engine.
Definition: Physics.hh:36
sdf::SDF_VERSION_NAMESPACE::Element
class IGNITION_SDFORMAT_VISIBLE Element
Definition: Element.hh:50
sdf::SDF_VERSION_NAMESPACE::Frame
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition: Frame.hh:42
ParserConfig.hh
Types.hh
sdf_config.h
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:25
sdf::SDF_VERSION_NAMESPACE::ParserConfig
This class contains configuration options for the libsdformat parser.
Definition: ParserConfig.hh:84
sdf::SDF_VERSION_NAMESPACE::Plugin
Definition: Plugin.hh:45
sdf::SDF_VERSION_NAMESPACE::Atmosphere
The Atmosphere class contains information about an atmospheric model and related parameters such as t...
Definition: Atmosphere.hh:45
sdf::SDF_VERSION_NAMESPACE::Light
Provides a description of a light source.
Definition: Light.hh:63
sdf::SDF_VERSION_NAMESPACE::Scene
Definition: Scene.hh:33
sdf::SDF_VERSION_NAMESPACE::Root
Root class that acts as an entry point to the SDF document model.
Definition: Root.hh:56
sdf::SDF_VERSION_NAMESPACE::Actor
Provides a description of an actor.
Definition: Actor.hh:191
sdf::SDF_VERSION_NAMESPACE::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
sdf::SDF_VERSION_NAMESPACE::ScopedGraph
Definition: Collision.hh:39
OutputConfig.hh
sdf::SDF_VERSION_NAMESPACE::NestedInclude
Contains the necessary information about an included model file for custom model parsers to be able t...
Definition: InterfaceElements.hh:44
sdf::SDF_VERSION_NAMESPACE::OutputConfig::GlobalConfig
static OutputConfig & GlobalConfig()
Mutable access to a singleton OutputConfig that serves as the global OutputConfig object for all pars...
system_util.hh
Plugin.hh
sdf::SDF_VERSION_NAMESPACE::Plugins
std::vector< Plugin > Plugins
A vector of Plugin.
Definition: Plugin.hh:196
sdf::SDF_VERSION_NAMESPACE::World
Definition: World.hh:57
Atmosphere.hh
sdf::SDF_VERSION_NAMESPACE::Gui
Definition: Gui.hh:31
sdf::SDF_VERSION_NAMESPACE::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
Element.hh