ParticleEmitter.hh

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/*
 * Copyright 2021 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_PARTICLE_EMITTER_HH_
#define SDF_PARTICLE_EMITTER_HH_
 
#include <memory>
#include <string>
 
#include <gz/math/Pose3.hh>
#include <gz/math/Vector3.hh>
#include "sdf/Material.hh"
#include "sdf/SemanticPose.hh"
#include "sdf/Types.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  // Forward declarations.
  struct PoseRelativeToGraph;
 
  // Developer note: Make sure to update kEmitterTypeStrs in the source
  // file when changing this enum.
  enum class ParticleEmitterType
  {
    POINT = 0,
 
    BOX = 1,
 
    CYLINDER = 2,
 
    ELLIPSOID = 3
  };
 
  class SDFORMAT_VISIBLE ParticleEmitter
  {
    public: ParticleEmitter();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: std::string Name() const;
 
    public: void SetName(const std::string &_name);
 
    public: ParticleEmitterType Type() const;
 
    public: void SetType(const ParticleEmitterType _type);
 
    public: bool SetType(const std::string &_typeStr);
 
    public: std::string TypeStr() const;
 
    public: bool Emitting() const;
 
    public: void SetEmitting(bool _emitting);
 
    public: double Duration() const;
 
    public: void SetDuration(double _duration);
 
    public: double Lifetime() const;
 
    public: void SetLifetime(double _duration);
 
    public: double Rate() const;
 
    public: void SetRate(double _rate);
 
    public: double ScaleRate() const;
 
    public: void SetScaleRate(double _scaleRate);
 
    public: double MinVelocity() const;
 
    public: void SetMinVelocity(double _vel);
 
    public: double MaxVelocity() const;
 
    public: void SetMaxVelocity(double _vel);
 
    // Default value is (1, 1, 1).
    // Note that the interpretation of the emitter area varies
    // depending on the emmiter type:
    //   - point: The area is ignored.
    //   - box: The area is interpreted as width X height X depth.
    //   - cylinder: The area is interpreted as the bounding box of the
    //               cylinder. The cylinder is oriented along the Z-axis.
    //   - ellipsoid: The area is interpreted as the bounding box of an
    //                ellipsoid shaped area, i.e. a sphere or
    //                squashed-sphere area. The parameters are again
    //                identical to EM_BOX, except that the dimensions
    //                describe the widest points along each of the axes.
    public: gz::math::Vector3d Size() const;
 
    public: void SetSize(const gz::math::Vector3d &_size);
 
    public: gz::math::Vector3d ParticleSize() const;
 
    public: void SetParticleSize(const gz::math::Vector3d &_size);
 
    public: gz::math::Color ColorStart() const;
 
    public: void SetColorStart(const gz::math::Color &_colorStart);
 
    public: gz::math::Color ColorEnd() const;
 
    public: void SetColorEnd(const gz::math::Color &_colorEnd);
 
    public: std::string ColorRangeImage() const;
 
    public: void SetColorRangeImage(const std::string &_image);
 
    public: std::string Topic() const;
 
    public: void SetTopic(const std::string &_topic);
 
    public: float ScatterRatio() const;
 
    public: void SetScatterRatio(float _ratio);
 
    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: sdf::ElementPtr Element() const;
 
    public: const sdf::Material *Material() const;
 
    public: void SetMaterial(const sdf::Material &_material);
 
    public: const std::string &FilePath() const;
 
    public: void SetFilePath(const std::string &_filePath);
 
    public: sdf::ElementPtr ToElement() const;
 
    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
 
    private: void SetXmlParentName(const std::string &_xmlParentName);
 
    private: void SetPoseRelativeToGraph(
                 sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
    friend class Link;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif