17 #ifndef SDF_PARTICLE_EMITTER_HH_
18 #define SDF_PARTICLE_EMITTER_HH_
23 #include <gz/math/Pose3.hh>
24 #include <gz/math/Vector3.hh>
34 inline namespace SDF_VERSION_NAMESPACE {
36 struct PoseRelativeToGraph;
77 public: std::string
Name()
const;
83 public:
void SetName(
const std::string &_name);
101 public:
bool SetType(
const std::string &_typeStr);
190 public: gz::math::Vector3d
Size()
const;
197 public:
void SetSize(
const gz::math::Vector3d &_size);
273 public:
const gz::math::Pose3d &
RawPose()
const;
338 private:
void SetXmlParentName(
const std::string &_xmlParentName);
344 private:
void SetPoseRelativeToGraph(
353 GZ_UTILS_IMPL_PTR(dataPtr)
This class contains visual material properties.
Definition: Material.hh:47
A description of a particle emitter, which can be attached to a link.
Definition: ParticleEmitter.hh:61
double Rate() const
Get the number of particles per second that should be emitted.
const std::string & FilePath() const
The path to the file where this element was loaded from.
void SetScatterRatio(float _ratio)
Set the particle scatter ratio.
void SetColorRangeImage(const std::string &_image)
Set the path to the color image used as an affector.
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this particle emitter.
void SetMaxVelocity(double _vel)
Set the maximum velocity for each particle.
Errors Load(ElementPtr _sdf)
Load the particle emitter based on an element pointer.
gz::math::Vector3d Size() const
Get the size of the emitter where the particles are sampled.
sdf::ElementPtr ToElement(sdf::Errors &_errors) const
Create and return an SDF element filled with data from this particle emitter.
double Duration() const
Get the number of seconds the emitter is active.
void SetMinVelocity(double _vel)
Set the minimum velocity for each particle.
const gz::math::Pose3d & RawPose() const
Get the pose of the particle emitter.
double MaxVelocity() const
Get the maximum velocity for each particle.
void SetType(const ParticleEmitterType _type)
Set the type of the particle emitter.
gz::math::Vector3d ParticleSize() const
Get the size of a particle in meters.
void SetFilePath(const std::string &_filePath)
Set the path to the file where this element was loaded from.
void SetMaterial(const sdf::Material &_material)
Set the emitter's material.
bool SetType(const std::string &_typeStr)
Set the type of the particle emitter.
sdf::SemanticPose SemanticPose() const
Get SemanticPose object of this object to aid in resolving poses.
void SetColorEnd(const gz::math::Color &_colorEnd)
Set the end color for all particles emitted.
void SetRate(double _rate)
Set the number of particles per second that should be emitted.
gz::math::Color ColorStart() const
Gets the starting color for all particles emitted.
void SetPoseRelativeTo(const std::string &_frame)
Set the name of the coordinate frame relative to which this emitter's pose is expressed.
void SetName(const std::string &_name)
Set the name of the particle emitter.
std::string Name() const
Get the name of the particle emitter.
void SetScaleRate(double _scaleRate)
Set the amount by which to scale the particles in both x and y direction per second.
const std::string & PoseRelativeTo() const
Get the name of the coordinate frame relative to which this emitter's pose is expressed.
void SetDuration(double _duration)
Set the number of seconds the emitter is active.
void SetColorStart(const gz::math::Color &_colorStart)
Set the starting color for all particles emitted.
gz::math::Color ColorEnd() const
Get the end color for all particles emitted.
std::string ColorRangeImage() const
Get the path to the color image used as an affector.
void SetRawPose(const gz::math::Pose3d &_pose)
Set the pose of the particle emitter object.
double Lifetime() const
Get the number of seconds each particle will 'live' for before being destroyed.
double ScaleRate() const
Get the amount by which to scale the particles in both x and y direction per second.
void SetEmitting(bool _emitting)
Set whether the particle emitter is running, emitting particles.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
bool Emitting() const
Get whether the particle emitter should run (emit particles).
double MinVelocity() const
Get the minimum velocity for each particle.
std::string Topic() const
Get the topic used to update the particle emitter properties.
void SetLifetime(double _duration)
Set the number of seconds each particle will 'live' for.
float ScatterRatio() const
Get the particle scatter ratio.
const sdf::Material * Material() const
Get a pointer to the emitter's material properties.
ParticleEmitter()
Default constructor.
ParticleEmitterType Type() const
Get the type of the particle emitter.
void SetSize(const gz::math::Vector3d &_size)
Set the size of the emitter where the particles are sampled.
void SetTopic(const std::string &_topic)
Set the topic used to update the particle emitter properties.
std::string TypeStr() const
Get the particle emitter type as a string.
void SetParticleSize(const gz::math::Vector3d &_size)
Set the size of a particle in meters.
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
ParticleEmitterType
The set of particle emitter types.
Definition: ParticleEmitter.hh:43
@ ELLIPSOID
An ellipsoid emitter.
@ CYLINDER
A cylinder emitter.
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