Light.hh

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/*
 * Copyright 2018 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef SDF_LIGHT_HH_
#define SDF_LIGHT_HH_
 
#include <memory>
#include <string>
#include <gz/math/Pose3.hh>
#include <gz/math/Angle.hh>
#include <gz/utils/ImplPtr.hh>
 
#include "sdf/Element.hh"
#include "sdf/SemanticPose.hh"
#include "sdf/Types.hh"
#include "sdf/config.hh"
#include "sdf/system_util.hh"
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
 
  // Forward declare private data class.
  struct PoseRelativeToGraph;
  template <typename T> class ScopedGraph;
 
  enum class LightType
  {
    INVALID = 0,
 
    POINT = 1,
 
    SPOT = 2,
 
    DIRECTIONAL = 3,
  };
 
  class SDFORMAT_VISIBLE Light
  {
    public: Light();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: LightType Type() const;
 
    public: void SetType(const LightType _type);
 
    public: std::string Name() const;
 
    public: void SetName(const std::string &_name);
 
    public: const gz::math::Pose3d &RawPose() const;
 
    public: void SetRawPose(const gz::math::Pose3d &_pose);
 
    public: const std::string &PoseRelativeTo() const;
 
    public: void SetPoseRelativeTo(const std::string &_frame);
 
    public: sdf::SemanticPose SemanticPose() const;
 
    public: bool CastShadows() const;
 
    public: void SetCastShadows(const bool _cast);
 
    public: bool LightOn() const;
 
    public: void SetLightOn(const bool _isLightOn);
 
    public: bool Visualize() const;
 
    public: void SetVisualize(const bool _visualize);
 
    public: double Intensity() const;
 
    public: void SetIntensity(const double _intensity);
 
    public: gz::math::Color Diffuse() const;
 
    public: void SetDiffuse(const gz::math::Color &_color);
 
    public: gz::math::Color Specular() const;
 
    public: void SetSpecular(const gz::math::Color &_color);
 
    public: double AttenuationRange() const;
 
    public: void SetAttenuationRange(const double _range);
 
    public: double LinearAttenuationFactor() const;
 
    public: void SetLinearAttenuationFactor(const double _factor);
 
    public: double ConstantAttenuationFactor() const;
 
    public: void SetConstantAttenuationFactor(const double _factor);
 
    public: double QuadraticAttenuationFactor() const;
 
    public: void SetQuadraticAttenuationFactor(const double _factor);
 
    public: gz::math::Vector3d Direction() const;
 
    public: void SetDirection(const gz::math::Vector3d  &_dir);
 
    public: gz::math::Angle SpotInnerAngle() const;
 
    public: void SetSpotInnerAngle(const gz::math::Angle &_angle);
 
    public: gz::math::Angle SpotOuterAngle() const;
 
    public: void SetSpotOuterAngle(const gz::math::Angle &_angle);
 
    public: double SpotFalloff() const;
 
    public: void SetSpotFalloff(const double _falloff);
 
    public: sdf::ElementPtr Element() const;
 
    private: void CopyFrom(const Light &_light);
 
    private: void SetXmlParentName(const std::string &_xmlParentName);
 
    private: void SetPoseRelativeToGraph(
        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
    public: sdf::ElementPtr ToElement() const;
 
    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
 
    friend class Link;
    friend class World;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif