Projector.hh
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17 #ifndef SDF_PROJECTOR_HH_
18 #define SDF_PROJECTOR_HH_
19 
20 #include <memory>
21 #include <string>
22 
23 #include <gz/math/Angle.hh>
24 #include <gz/math/Pose3.hh>
25 #include <gz/math/Vector3.hh>
26 
27 #include "sdf/Plugin.hh"
28 #include "sdf/SemanticPose.hh"
29 #include "sdf/Types.hh"
30 #include "sdf/sdf_config.h"
31 #include "sdf/system_util.hh"
32 
33 namespace sdf
34 {
35  // Inline bracket to help doxygen filtering.
36  inline namespace SDF_VERSION_NAMESPACE {
37  // Forward declarations.
38  struct PoseRelativeToGraph;
39 
44  {
46  public: Projector();
47 
54  public: Errors Load(ElementPtr _sdf);
55 
60  public: std::string Name() const;
61 
66  public: void SetName(const std::string &_name);
67 
70  public: double NearClip() const;
71 
74  public: void SetNearClip(double _near);
75 
78  public: double FarClip() const;
79 
82  public: void SetFarClip(double _far);
83 
86  public: gz::math::Angle HorizontalFov() const;
87 
90  public: void SetHorizontalFov(const gz::math::Angle &_hfov);
91 
94  public: uint32_t VisibilityFlags() const;
95 
98  public: void SetVisibilityFlags(uint32_t _flags);
99 
104  public: std::string Texture() const;
105 
108  public: void SetTexture(const std::string &_map);
109 
113  public: const sdf::Plugins &Plugins() const;
114 
118  public: sdf::Plugins &Plugins();
119 
121  public: void ClearPlugins();
122 
125  public: void AddPlugin(const Plugin &_plugin);
126 
131  public: const gz::math::Pose3d &RawPose() const;
132 
136  public: void SetRawPose(const gz::math::Pose3d &_pose);
137 
142  public: const std::string &PoseRelativeTo() const;
143 
148  public: void SetPoseRelativeTo(const std::string &_frame);
149 
153 
157  public: sdf::ElementPtr Element() const;
158 
161  public: const std::string &FilePath() const;
162 
165  public: void SetFilePath(const std::string &_filePath);
166 
172  public: sdf::ElementPtr ToElement() const;
173 
178  private: void SetXmlParentName(const std::string &_xmlParentName);
179 
184  private: void SetPoseRelativeToGraph(
186 
190  friend class Link;
191 
193  GZ_UTILS_IMPL_PTR(dataPtr)
194  };
195  }
196 }
197 #endif
Definition: Plugin.hh:46
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.
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