17 #ifndef SDF_PROJECTOR_HH_
18 #define SDF_PROJECTOR_HH_
23 #include <gz/math/Angle.hh>
24 #include <gz/math/Pose3.hh>
25 #include <gz/math/Vector3.hh>
36 inline namespace SDF_VERSION_NAMESPACE {
38 struct PoseRelativeToGraph;
60 public: std::string
Name()
const;
66 public:
void SetName(
const std::string &_name);
131 public:
const gz::math::Pose3d &
RawPose()
const;
178 private:
void SetXmlParentName(
const std::string &_xmlParentName);
184 private:
void SetPoseRelativeToGraph(
193 GZ_UTILS_IMPL_PTR(dataPtr)
A description of a projector, which can be attached to a link.
Definition: Projector.hh:44
const std::string & FilePath() const
The path to the file where this element was loaded from.
void SetNearClip(double _near)
Set the near clip distance.
const std::string & PoseRelativeTo() const
Get the name of the coordinate frame relative to which this projector's pose is expressed.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
std::string Name() const
Get the name of the projector.
Errors Load(ElementPtr _sdf)
Load the projector based on an element pointer.
double NearClip() const
Get the near clip distance.
void AddPlugin(const Plugin &_plugin)
Add a plugin to this projector.
void ClearPlugins()
Remove all plugins.
void SetRawPose(const gz::math::Pose3d &_pose)
Set the pose of the projector object.
void SetFarClip(double _far)
Set the far clip distance.
void SetHorizontalFov(const gz::math::Angle &_hfov)
Set the horizontal field of view in radians.
const gz::math::Pose3d & RawPose() const
Get the pose of the projector.
gz::math::Angle HorizontalFov() const
Get the horizontal field of view in radians.
Projector()
Default constructor.
void SetPoseRelativeTo(const std::string &_frame)
Set the name of the coordinate frame relative to which this projector's pose is expressed.
void SetVisibilityFlags(uint32_t _flags)
Set the visibility flags of a projector.
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this projector.
sdf::SemanticPose SemanticPose() const
Get SemanticPose object of this object to aid in resolving poses.
uint32_t VisibilityFlags() const
Get the visibility flags of a projector.
const sdf::Plugins & Plugins() const
Get the plugins attached to this projector.
double FarClip() const
Get the far clip distance.
sdf::Plugins & Plugins()
Get a mutable vector of plugins attached to this projector.
void SetName(const std::string &_name)
Set the name of the projector.
void SetFilePath(const std::string &_filePath)
Set the path to the file where this element was loaded from.
void SetTexture(const std::string &_map)
Set the texture filename.
std::string Texture() const
Get the texture filename.
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
std::vector< Plugin > Plugins
A vector of Plugin.
Definition: Plugin.hh:245
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