sdf::SDF_VERSION_NAMESPACE::Projector Class Reference

A description of a projector, which can be attached to a link. More...

#include <Projector.hh>

Public Member Functions
	Projector ()
	Default constructor. More...
void	AddPlugin (const Plugin &_plugin)
	Add a plugin to this projector. More...
void	ClearPlugins ()
	Remove all plugins. More...
sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load. More...
double	FarClip () const
	Get the far clip distance. More...
const std::string &	FilePath () const
	The path to the file where this element was loaded from. More...
gz::math::Angle	HorizontalFov () const
	Get the horizontal field of view in radians. More...
Errors	Load (ElementPtr _sdf)
	Load the projector based on an element pointer. More...
std::string	Name () const
	Get the name of the projector. More...
double	NearClip () const
	Get the near clip distance. More...
sdf::Plugins &	Plugins ()
	Get a mutable vector of plugins attached to this projector. More...
const sdf::Plugins &	Plugins () const
	Get the plugins attached to this projector. More...
const std::string &	PoseRelativeTo () const
	Get the name of the coordinate frame relative to which this projector's pose is expressed. More...
const gz::math::Pose3d &	RawPose () const
	Get the pose of the projector. More...
sdf::SemanticPose	SemanticPose () const
	Get SemanticPose object of this object to aid in resolving poses. More...
void	SetFarClip (double _far)
	Set the far clip distance. More...
void	SetFilePath (const std::string &_filePath)
	Set the path to the file where this element was loaded from. More...
void	SetHorizontalFov (const gz::math::Angle &_hfov)
	Set the horizontal field of view in radians. More...
void	SetName (const std::string &_name)
	Set the name of the projector. More...
void	SetNearClip (double _near)
	Set the near clip distance. More...
void	SetPoseRelativeTo (const std::string &_frame)
	Set the name of the coordinate frame relative to which this projector's pose is expressed. More...
void	SetRawPose (const gz::math::Pose3d &_pose)
	Set the pose of the projector object. More...
void	SetTexture (const std::string &_map)
	Set the texture filename. More...
void	SetVisibilityFlags (uint32_t _flags)
	Set the visibility flags of a projector. More...
std::string	Texture () const
	Get the texture filename. More...
sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this projector. More...
uint32_t	VisibilityFlags () const
	Get the visibility flags of a projector. More...

Detailed Description

A description of a projector, which can be attached to a link.

A projector can be used to project texture onto other visuals

Constructor & Destructor Documentation

Projector()

sdf::SDF_VERSION_NAMESPACE::Projector::Projector

(

)

Default constructor.

Member Function Documentation

AddPlugin()

void sdf::SDF_VERSION_NAMESPACE::Projector::AddPlugin

(

const Plugin &

_plugin

)

Add a plugin to this projector.

Parameters

[in]

_plugin

Plugin to add.

ClearPlugins()

void sdf::SDF_VERSION_NAMESPACE::Projector::ClearPlugins

(

)

Remove all plugins.

Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Projector::Element

(

)

const

Get a pointer to the SDF element that was used during load.

Returns

SDF element pointer. The value will be nullptr if Load has not been called.

FarClip()

double sdf::SDF_VERSION_NAMESPACE::Projector::FarClip

(

)

const

Get the far clip distance.

Returns

The far clip distance.

FilePath()

const std::string& sdf::SDF_VERSION_NAMESPACE::Projector::FilePath

(

)

const

The path to the file where this element was loaded from.

Returns

Full path to the file on disk.

HorizontalFov()

gz::math::Angle sdf::SDF_VERSION_NAMESPACE::Projector::HorizontalFov

(

)

const

Get the horizontal field of view in radians.

Returns

The horizontal field of view in radians.

Load()

Errors sdf::SDF_VERSION_NAMESPACE::Projector::Load

(

ElementPtr

_sdf

)

Load the projector based on an element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in]

_sdf

The SDF Element pointer

Returns

Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

Name()

std::string sdf::SDF_VERSION_NAMESPACE::Projector::Name

(

)

const

Get the name of the projector.

The name of the projector should be unique within the scope of a Link.

Returns

Name of the projector.

NearClip()

double sdf::SDF_VERSION_NAMESPACE::Projector::NearClip

(

)

const

Get the near clip distance.

Returns

The near clip distance.

Plugins() [1/2]

sdf::Plugins& sdf::SDF_VERSION_NAMESPACE::Projector::Plugins

(

)

Get a mutable vector of plugins attached to this projector.

Returns

A vector of Plugin, which will be empty if there are no plugins.

Plugins() [2/2]

const sdf::Plugins& sdf::SDF_VERSION_NAMESPACE::Projector::Plugins

(

)

const

Get the plugins attached to this projector.

Returns

A vector of Plugin, which will be empty if there are no plugins.

PoseRelativeTo()

const std::string& sdf::SDF_VERSION_NAMESPACE::Projector::PoseRelativeTo

(

)

const

Get the name of the coordinate frame relative to which this projector's pose is expressed.

An empty value indicates that the frame is relative to the parent link.

Returns

The name of the pose relative-to frame.

RawPose()

const gz::math::Pose3d& sdf::SDF_VERSION_NAMESPACE::Projector::RawPose

(

)

const

Get the pose of the projector.

This is the pose of the projector as specified in SDF (<projector><pose> ... </pose></projector>).

Returns

The pose of the projector.

SemanticPose()

sdf::SemanticPose sdf::SDF_VERSION_NAMESPACE::Projector::SemanticPose

(

)

const

Get SemanticPose object of this object to aid in resolving poses.

Returns

SemanticPose object for this projector.

SetFarClip()

void sdf::SDF_VERSION_NAMESPACE::Projector::SetFarClip

(

double

_far

)

Set the far clip distance.

Parameters

[in]

_far

The far clip distance.

SetFilePath()

void sdf::SDF_VERSION_NAMESPACE::Projector::SetFilePath

(

const std::string &

_filePath

)

Set the path to the file where this element was loaded from.

\paramp[in] _filePath Full path to the file on disk.

SetHorizontalFov()

void sdf::SDF_VERSION_NAMESPACE::Projector::SetHorizontalFov

(

const gz::math::Angle &

_hfov

)

Set the horizontal field of view in radians.

Parameters

[in]

_hfov

The horizontal field of view in radians.

SetName()

void sdf::SDF_VERSION_NAMESPACE::Projector::SetName

(

const std::string &

_name

)

Set the name of the projector.

The name of the projector should be unique within the scope of a Link.

Parameters

[in]

_name

Name of the projector.

SetNearClip()

void sdf::SDF_VERSION_NAMESPACE::Projector::SetNearClip

(

double

_near

)

Set the near clip distance.

Parameters

[in]

_near

The near clip distance.

SetPoseRelativeTo()

void sdf::SDF_VERSION_NAMESPACE::Projector::SetPoseRelativeTo

(

const std::string &

_frame

)

Set the name of the coordinate frame relative to which this projector's pose is expressed.

An empty value indicates that the frame is relative to the parent link.

Parameters

[in]

_frame

The name of the pose relative-to frame.

SetRawPose()

void sdf::SDF_VERSION_NAMESPACE::Projector::SetRawPose

(

const gz::math::Pose3d &

_pose

)

Set the pose of the projector object.

See also

const gz::math::Pose3d &RawPose() const

Parameters

[in]

_pose

The pose of the projector.

SetTexture()

void sdf::SDF_VERSION_NAMESPACE::Projector::SetTexture

(

const std::string &

_map

)

Set the texture filename.

Parameters

[in]

_map

Filename of the texture

SetVisibilityFlags()

void sdf::SDF_VERSION_NAMESPACE::Projector::SetVisibilityFlags

(

uint32_t

_flags

)

Set the visibility flags of a projector.

Parameters

[in]

_flags

visibility flags

Texture()

std::string sdf::SDF_VERSION_NAMESPACE::Projector::Texture

(

)

const

Get the texture filename.

This will be an empty string if a texture has not been set.

Returns

Filename of the texture, or empty string if a texture has not been specified.

ToElement()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Projector::ToElement

(

)

const

Create and return an SDF element filled with data from this projector.

Note that parameter passing functionality is not captured with this function.

Returns

SDF element pointer with updated projector values.

VisibilityFlags()

uint32_t sdf::SDF_VERSION_NAMESPACE::Projector::VisibilityFlags

(

)

const

Get the visibility flags of a projector.

Returns

visibility flags

---

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

• Projector.hh