22 #include <gz/math/Pose3.hh>
23 #include <gz/math/Angle.hh>
24 #include <gz/utils/ImplPtr.hh>
35 inline namespace SDF_VERSION_NAMESPACE {
39 struct PoseRelativeToGraph;
40 template <
typename T>
class ScopedGraph;
86 public: std::string
Name()
const;
90 public:
void SetName(
const std::string &_name);
97 public:
const gz::math::Pose3d &
RawPose()
const;
272 private:
void CopyFrom(
const Light &_light);
278 private:
void SetXmlParentName(
const std::string &_xmlParentName);
284 private:
void SetPoseRelativeToGraph(
310 GZ_UTILS_IMPL_PTR(dataPtr)
Provides a description of a light source.
Definition: Light.hh:64
void SetAttenuationRange(const double _range)
Set the range of the light source in meters.
Light()
Default constructor.
Errors Load(ElementPtr _sdf)
Load the light based on a element pointer.
void SetCastShadows(const bool _cast)
Set whether the light casts shadows.
bool LightOn() const
Get if the light is on.
bool CastShadows() const
Get whether the light casts shadows.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
void SetSpotOuterAngle(const gz::math::Angle &_angle)
Set the angle covered by the outer cone.
double Intensity() const
Get the light intensity.
void SetSpotFalloff(const double _falloff)
Set the rate of falloff between the inner and outer cones.
void SetIntensity(const double _intensity)
Set the light intensity.
void SetType(const LightType _type)
Set the light type.
std::string Name() const
Get the name of the light.
void SetName(const std::string &_name)
Set the name of the light.
LightType Type() const
Get the light type.
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this light object.
void SetLightOn(const bool _isLightOn)
Set if the light is ON/OFF.
gz::math::Angle SpotOuterAngle() const
Get the angle covered by the outer cone.
gz::math::Vector3d Direction() const
Get the direction of the light source.
double ConstantAttenuationFactor() const
Get the constant attenuation factor.
sdf::SemanticPose SemanticPose() const
Get SemanticPose object of this object to aid in resolving poses.
double SpotFalloff() const
Get the rate of falloff between the inner and outer cones.
void SetConstantAttenuationFactor(const double _factor)
Set the constant attenuation factor.
const gz::math::Pose3d & RawPose() const
Get the pose of the light.
double QuadraticAttenuationFactor() const
Get the quadratic attenuation factor which adds a curvature to the attenuation.
sdf::ElementPtr ToElement(sdf::Errors &_errors) const
Create and return an SDF element filled with data from this light object.
gz::math::Angle SpotInnerAngle() const
Get the angle covered by the bright inner cone.
double AttenuationRange() const
Get the range of the light source in meters.
void SetRawPose(const gz::math::Pose3d &_pose)
Set the pose of the light.
void SetSpecular(const gz::math::Color &_color)
Set the specular color.
bool Visualize() const
Whether light visualization in the GUI is enabled.
const std::string & PoseRelativeTo() const
Get the name of the coordinate frame relative to which this object's pose is expressed.
void SetLinearAttenuationFactor(const double _factor)
Set the linear attenuation factor.
void SetDiffuse(const gz::math::Color &_color)
Set the diffuse color.
void SetQuadraticAttenuationFactor(const double _factor)
Set the quadratic attenuation factor which adds a curvature to the attenuation.
gz::math::Color Diffuse() const
Get the diffuse color.
gz::math::Color Specular() const
Get the specular color.
void SetSpotInnerAngle(const gz::math::Angle &_angle)
Set the angle covered by the bright inner cone.
void SetPoseRelativeTo(const std::string &_frame)
Set the name of the coordinate frame relative to which this object's pose is expressed.
void SetVisualize(const bool _visualize)
Set whether light visualization in the GUI is enabled.
double LinearAttenuationFactor() const
Get the linear attenuation factor.
void SetDirection(const gz::math::Vector3d &_dir)
Set the direction of the light source.
Definition: Collision.hh:44
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:55
LightType
The set of light types.
Definition: Light.hh:46
@ SPOT
A spot light source.
@ POINT
A point light source.
@ DIRECTIONAL
A directional light source.
@ INVALID
An invalid light.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:95
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:55
namespace for Simulation Description Format parser
Definition: Actor.hh:35
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:25