Provides a description of a light source. More...

#include <Light.hh>

Public Member Functions
	Light ()
	Default constructor.

double	AttenuationRange () const
	Get the range of the light source in meters.

bool	CastShadows () const
	Get whether the light casts shadows.

double	ConstantAttenuationFactor () const
	Get the constant attenuation factor.

gz::math::Color	Diffuse () const
	Get the diffuse color.

gz::math::Vector3d	Direction () const
	Get the direction of the light source.

sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load.

double	Intensity () const
	Get the light intensity.

bool	LightOn () const
	Get if the light is on.

double	LinearAttenuationFactor () const
	Get the linear attenuation factor.

Errors	Load (ElementPtr _sdf)
	Load the light based on a element pointer.

std::string	Name () const
	Get the name of the light.

const std::string &	PoseRelativeTo () const
	Get the name of the coordinate frame relative to which this object's pose is expressed.

double	QuadraticAttenuationFactor () const
	Get the quadratic attenuation factor which adds a curvature to the attenuation.

const gz::math::Pose3d &	RawPose () const
	Get the pose of the light.

sdf::SemanticPose	SemanticPose () const
	Get SemanticPose object of this object to aid in resolving poses.

void	SetAttenuationRange (const double _range)
	Set the range of the light source in meters.

void	SetCastShadows (const bool _cast)
	Set whether the light casts shadows.

void	SetConstantAttenuationFactor (const double _factor)
	Set the constant attenuation factor.

void	SetDiffuse (const gz::math::Color &_color)
	Set the diffuse color.

void	SetDirection (const gz::math::Vector3d &_dir)
	Set the direction of the light source.

void	SetIntensity (const double _intensity)
	Set the light intensity.

void	SetLightOn (const bool _isLightOn)
	Set if the light is ON/OFF.

void	SetLinearAttenuationFactor (const double _factor)
	Set the linear attenuation factor.

void	SetName (const std::string &_name)
	Set the name of the light.

void	SetPoseRelativeTo (const std::string &_frame)
	Set the name of the coordinate frame relative to which this object's pose is expressed.

void	SetQuadraticAttenuationFactor (const double _factor)
	Set the quadratic attenuation factor which adds a curvature to the attenuation.

void	SetRawPose (const gz::math::Pose3d &_pose)
	Set the pose of the light.

void	SetSpecular (const gz::math::Color &_color)
	Set the specular color.

void	SetSpotFalloff (const double _falloff)
	Set the rate of falloff between the inner and outer cones.

void	SetSpotInnerAngle (const gz::math::Angle &_angle)
	Set the angle covered by the bright inner cone.

void	SetSpotOuterAngle (const gz::math::Angle &_angle)
	Set the angle covered by the outer cone.

void	SetType (const LightType _type)
	Set the light type.

void	SetVisualize (const bool _visualize)
	Set whether light visualization in the GUI is enabled.

gz::math::Color	Specular () const
	Get the specular color.

double	SpotFalloff () const
	Get the rate of falloff between the inner and outer cones.

gz::math::Angle	SpotInnerAngle () const
	Get the angle covered by the bright inner cone.

gz::math::Angle	SpotOuterAngle () const
	Get the angle covered by the outer cone.

sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this light object.

sdf::ElementPtr	ToElement (sdf::Errors &_errors) const
	Create and return an SDF element filled with data from this light object.

LightType	Type () const
	Get the light type.

bool	Visualize () const
	Whether light visualization in the GUI is enabled.

Detailed Description

Provides a description of a light source.

A light source can be point, spot, or directional light.

Constructor & Destructor Documentation

◆ Light()

sdf::SDF_VERSION_NAMESPACE::Light::Light ( )

Default constructor.

Member Function Documentation

◆ AttenuationRange()

double sdf::SDF_VERSION_NAMESPACE::Light::AttenuationRange ( ) const

Get the range of the light source in meters.

Returns: Range of the light source in meters.

◆ CastShadows()

bool sdf::SDF_VERSION_NAMESPACE::Light::CastShadows ( ) const

Get whether the light casts shadows.

Returns: True if the light casts shadows.

◆ ConstantAttenuationFactor()

double sdf::SDF_VERSION_NAMESPACE::Light::ConstantAttenuationFactor ( ) const

Get the constant attenuation factor.

This value is clamped to a value between 0 and 1, where 1.0 means never attenuate and 0.0 is complete attenutation.

Returns: Constant attenuation factor.

◆ Diffuse()

gz::math::Color sdf::SDF_VERSION_NAMESPACE::Light::Diffuse ( ) const

Get the diffuse color.

The diffuse color is specified by a set of three numbers representing red/green/blue, each in the range of [0,1].

Returns: Diffuse color.

◆ Direction()

gz::math::Vector3d sdf::SDF_VERSION_NAMESPACE::Light::Direction ( ) const

Get the direction of the light source.

This only has meaning for spot and directional light types. The default value is [0, 0, -1].

Returns: Light source direction.

◆ Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Light::Element ( ) const

Get a pointer to the SDF element that was used during load.

Returns: SDF element pointer. The value will be nullptr if Load has not been called.

◆ Intensity()

double sdf::SDF_VERSION_NAMESPACE::Light::Intensity ( ) const

Get the light intensity.

Returns: The light intensity

◆ LightOn()

bool sdf::SDF_VERSION_NAMESPACE::Light::LightOn ( ) const

Get if the light is on.

Returns: True if the light is on.

◆ LinearAttenuationFactor()

double sdf::SDF_VERSION_NAMESPACE::Light::LinearAttenuationFactor ( ) const

Get the linear attenuation factor.

This value is clamped to a value between 0 and 1, where 1 means attenuate evenly over the distance.

Returns: Linear attentuation factor.

◆ Load()

Errors sdf::SDF_VERSION_NAMESPACE::Light::Load ( ElementPtr _sdf )

Load the light based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in] _sdf The SDF Element pointer

Returns: Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Name()

std::string sdf::SDF_VERSION_NAMESPACE::Light::Name ( ) const

Get the name of the light.

Returns: Name of the light.

◆ PoseRelativeTo()

const std::string & sdf::SDF_VERSION_NAMESPACE::Light::PoseRelativeTo ( ) const

Get the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the parent link/world coordinate frame.

Returns: The name of the pose relative-to frame.

◆ QuadraticAttenuationFactor()

double sdf::SDF_VERSION_NAMESPACE::Light::QuadraticAttenuationFactor ( ) const

Get the quadratic attenuation factor which adds a curvature to the attenuation.

Returns: The quadratic attenuation factor.

◆ RawPose()

const gz::math::Pose3d & sdf::SDF_VERSION_NAMESPACE::Light::RawPose ( ) const

Get the pose of the light.

This is the pose of the light as specified in SDF (<light> <pose> ... </pose></light>), and is typically used to express the position and rotation of a light in a global coordinate frame.

Returns: The pose of the light.

◆ SemanticPose()

sdf::SemanticPose sdf::SDF_VERSION_NAMESPACE::Light::SemanticPose ( ) const

Get SemanticPose object of this object to aid in resolving poses.

Returns: SemanticPose object for this link.

◆ SetAttenuationRange()

void sdf::SDF_VERSION_NAMESPACE::Light::SetAttenuationRange ( const double _range )

Set the range of the light source in meters.

Parameters

[in] _factor Range of the light source in meters.

◆ SetCastShadows()

void sdf::SDF_VERSION_NAMESPACE::Light::SetCastShadows ( const bool _cast )

Set whether the light casts shadows.

Parameters

[in] _cast True to indicate that the light casts shadows.

◆ SetConstantAttenuationFactor()

void sdf::SDF_VERSION_NAMESPACE::Light::SetConstantAttenuationFactor ( const double _factor )

Set the constant attenuation factor.

This value is clamped to a value between 0 and 1, where 1.0 means never attenuate and 0.0 is complete attenutation.

Parameters

[in] _factor Constant attenuation factor.

◆ SetDiffuse()

void sdf::SDF_VERSION_NAMESPACE::Light::SetDiffuse ( const gz::math::Color & _color )

Set the diffuse color.

The diffuse color is specified by a set of three numbers representing red/green/blue, each in the range of [0,1].

Parameters

[in] _color Diffuse color.

◆ SetDirection()

void sdf::SDF_VERSION_NAMESPACE::Light::SetDirection ( const gz::math::Vector3d & _dir )

Set the direction of the light source.

This only has meaning for spot and directional light types.

Parameters

[in] _dir Light source direction.

◆ SetIntensity()

void sdf::SDF_VERSION_NAMESPACE::Light::SetIntensity ( const double _intensity )

Set the light intensity.

Parameters

[in] _intensity New light intensity

◆ SetLightOn()

void sdf::SDF_VERSION_NAMESPACE::Light::SetLightOn ( const bool _isLightOn )

Set if the light is ON/OFF.

Parameters

[in] _cast True to indicate that the light is on, False otherwise.

◆ SetLinearAttenuationFactor()

void sdf::SDF_VERSION_NAMESPACE::Light::SetLinearAttenuationFactor ( const double _factor )

Set the linear attenuation factor.

This value is clamped to a value between 0 and 1, where 1 means attenuate evenly over the distance.

Parameters

[in] _factor Linear attentuation factor.

◆ SetName()

void sdf::SDF_VERSION_NAMESPACE::Light::SetName ( const std::string & _name )

Set the name of the light.

Parameters

[in] _name Name of the light.

◆ SetPoseRelativeTo()

void sdf::SDF_VERSION_NAMESPACE::Light::SetPoseRelativeTo ( const std::string & _frame )

Set the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the parent model/world coordinate frame.

Parameters

[in] _frame The name of the pose relative-to frame.

◆ SetQuadraticAttenuationFactor()

void sdf::SDF_VERSION_NAMESPACE::Light::SetQuadraticAttenuationFactor ( const double _factor )

Set the quadratic attenuation factor which adds a curvature to the attenuation.

Parameters

[in] _factor The quadratic attenuation factor.

◆ SetRawPose()

void sdf::SDF_VERSION_NAMESPACE::Light::SetRawPose ( const gz::math::Pose3d & _pose )

Set the pose of the light.

See also: const gz::math::Pose3d &RawPose() const

Parameters

[in] _pose The new light pose.

◆ SetSpecular()

void sdf::SDF_VERSION_NAMESPACE::Light::SetSpecular ( const gz::math::Color & _color )

Set the specular color.

The specular color is specified by a set of three numbers representing red/green/blue, each in the range of [0,1].

Parameters

[in] _color Specular color.

◆ SetSpotFalloff()

void sdf::SDF_VERSION_NAMESPACE::Light::SetSpotFalloff ( const double _falloff )

Set the rate of falloff between the inner and outer cones.

A value of 1.0 is a linear falloff, less than 1.0 is a slower falloff, and a higher value indicates a faster falloff.

Parameters

[in] _falloff The spot falloff.

Note: This function only has meaning for a spot light.

◆ SetSpotInnerAngle()

void sdf::SDF_VERSION_NAMESPACE::Light::SetSpotInnerAngle ( const gz::math::Angle & _angle )

Set the angle covered by the bright inner cone.

Parameters

[in] _angle The angle covered by the bright inner cone.

Note: This function only has meaning for a spot light.

◆ SetSpotOuterAngle()

void sdf::SDF_VERSION_NAMESPACE::Light::SetSpotOuterAngle ( const gz::math::Angle & _angle )

Set the angle covered by the outer cone.

Parameters

[in] _angle The angle covered by the outer cone.

Note: This function only has meaning for a spot light.

◆ SetType()

void sdf::SDF_VERSION_NAMESPACE::Light::SetType ( const LightType _type )

Set the light type.

Parameters

[in] _type The light type.

◆ SetVisualize()

void sdf::SDF_VERSION_NAMESPACE::Light::SetVisualize ( const bool _visualize )

Set whether light visualization in the GUI is enabled.

Parameters

[in] _visualize True to view the light on the GUI.

◆ Specular()

gz::math::Color sdf::SDF_VERSION_NAMESPACE::Light::Specular ( ) const

Get the specular color.

The specular color is specified by a set of three numbers representing red/green/blue, each in the range of [0,1].

Returns: Specular color.

◆ SpotFalloff()

double sdf::SDF_VERSION_NAMESPACE::Light::SpotFalloff ( ) const

Get the rate of falloff between the inner and outer cones.

A value of 1.0 is a linear falloff, less than 1.0 is a slower falloff, and a higher value indicates a faster falloff.

Returns: The spot falloff.

Note: This function only has meaning for a spot light.

◆ SpotInnerAngle()

gz::math::Angle sdf::SDF_VERSION_NAMESPACE::Light::SpotInnerAngle ( ) const

Get the angle covered by the bright inner cone.

Returns: The angle covered by the bright inner cone.

Note: This function only has meaning for a spot light.

◆ SpotOuterAngle()

gz::math::Angle sdf::SDF_VERSION_NAMESPACE::Light::SpotOuterAngle ( ) const

Get the angle covered by the outer cone.

Returns: The angle covered by the outer cone.

Note: This function only has meaning for a spot light.

◆ ToElement() [1/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Light::ToElement ( ) const

Create and return an SDF element filled with data from this light object.

Note that parameter passing functionality is not captured with this function.

Returns: SDF element pointer with updated light values.

◆ ToElement() [2/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Light::ToElement ( sdf::Errors & _errors ) const

Create and return an SDF element filled with data from this light object.

Note that parameter passing functionality is not captured with this function.

Parameters

[out] _errors Vector of errors.

Returns: SDF element pointer with updated light values.

◆ Type()

LightType sdf::SDF_VERSION_NAMESPACE::Light::Type ( ) const

Get the light type.

Returns: The light type.

◆ Visualize()

bool sdf::SDF_VERSION_NAMESPACE::Light::Visualize ( ) const

Whether light visualization in the GUI is enabled.

Returns: True if visualization is enabled.

The documentation for this class was generated from the following file:

Light.hh

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Light()

Member Function Documentation

◆ AttenuationRange()

◆ CastShadows()

◆ ConstantAttenuationFactor()

◆ Diffuse()

◆ Direction()

◆ Element()

◆ Intensity()

◆ LightOn()

◆ LinearAttenuationFactor()

◆ Load()

◆ Name()

◆ PoseRelativeTo()

◆ QuadraticAttenuationFactor()

◆ RawPose()

◆ SemanticPose()

◆ SetAttenuationRange()

◆ SetCastShadows()

◆ SetConstantAttenuationFactor()

◆ SetDiffuse()

◆ SetDirection()

◆ SetIntensity()

◆ SetLightOn()

◆ SetLinearAttenuationFactor()

◆ SetName()

◆ SetPoseRelativeTo()

◆ SetQuadraticAttenuationFactor()

◆ SetRawPose()

◆ SetSpecular()

◆ SetSpotFalloff()

◆ SetSpotInnerAngle()

◆ SetSpotOuterAngle()

◆ SetType()

◆ SetVisualize()

◆ Specular()

◆ SpotFalloff()

◆ SpotInnerAngle()

◆ SpotOuterAngle()

◆ ToElement() [1/2]

◆ ToElement() [2/2]

◆ Type()

◆ Visualize()