A description of a particle emitter, which can be attached to a link. More...

#include <ParticleEmitter.hh>

Public Member Functions
	ParticleEmitter ()
	Default constructor.

gz::math::Color	ColorEnd () const
	Get the end color for all particles emitted.

std::string	ColorRangeImage () const
	Get the path to the color image used as an affector.

gz::math::Color	ColorStart () const
	Gets the starting color for all particles emitted.

double	Duration () const
	Get the number of seconds the emitter is active.

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

bool	Emitting () const
	Get whether the particle emitter should run (emit particles).

const std::string &	FilePath () const
	The path to the file where this element was loaded from.

double	Lifetime () const
	Get the number of seconds each particle will 'live' for before being destroyed.

Errors	Load (ElementPtr _sdf)
	Load the particle emitter based on an element pointer.

const sdf::Material *	Material () const
	Get a pointer to the emitter's material properties.

double	MaxVelocity () const
	Get the maximum velocity for each particle.

double	MinVelocity () const
	Get the minimum velocity for each particle.

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

gz::math::Vector3d	ParticleSize () const
	Get the size of a particle in meters.

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

double	Rate () const
	Get the number of particles per second that should be emitted.

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

double	ScaleRate () const
	Get the amount by which to scale the particles in both x and y direction per second.

float	ScatterRatio () const
	Get the particle scatter ratio.

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

void	SetColorEnd (const gz::math::Color &_colorEnd)
	Set the end color for all particles emitted.

void	SetColorRangeImage (const std::string &_image)
	Set the path to the color image used as an affector.

void	SetColorStart (const gz::math::Color &_colorStart)
	Set the starting color for all particles emitted.

void	SetDuration (double _duration)
	Set the number of seconds the emitter is active.

void	SetEmitting (bool _emitting)
	Set whether the particle emitter is running, emitting particles.

void	SetFilePath (const std::string &_filePath)
	Set the path to the file where this element was loaded from.

void	SetLifetime (double _duration)
	Set the number of seconds each particle will 'live' for.

void	SetMaterial (const sdf::Material &_material)
	Set the emitter's material.

void	SetMaxVelocity (double _vel)
	Set the maximum velocity for each particle.

void	SetMinVelocity (double _vel)
	Set the minimum velocity for each particle.

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

void	SetParticleSize (const gz::math::Vector3d &_size)
	Set the size of a particle in meters.

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

void	SetRate (double _rate)
	Set the number of particles per second that should be emitted.

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

void	SetScaleRate (double _scaleRate)
	Set the amount by which to scale the particles in both x and y direction per second.

void	SetScatterRatio (float _ratio)
	Set the particle scatter ratio.

void	SetSize (const gz::math::Vector3d &_size)
	Set the size of the emitter where the particles are sampled.

void	SetTopic (const std::string &_topic)
	Set the topic used to update the particle emitter properties.

void	SetType (const ParticleEmitterType _type)
	Set the type of the particle emitter.

bool	SetType (const std::string &_typeStr)
	Set the type of the particle emitter.

gz::math::Vector3d	Size () const
	Get the size of the emitter where the particles are sampled.

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

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

std::string	Topic () const
	Get the topic used to update the particle emitter properties.

ParticleEmitterType	Type () const
	Get the type of the particle emitter.

std::string	TypeStr () const
	Get the particle emitter type as a string.

Detailed Description

A description of a particle emitter, which can be attached to a link.

A particle emitter can be used to describe fog, smoke, and dust.

Constructor & Destructor Documentation

◆ ParticleEmitter()

sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::ParticleEmitter ( )

Default constructor.

Member Function Documentation

◆ ColorEnd()

gz::math::Color sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::ColorEnd ( ) const

Get the end color for all particles emitted.

The actual color will be interpolated between this color and the one set under ColorStart(). Color::White is the default color for the particles unless a specific function is used.

Returns: The end color.

◆ ColorRangeImage()

std::string sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::ColorRangeImage ( ) const

Get the path to the color image used as an affector.

This affector modifies the color of particles in flight. The colors are taken from a specified image file. The range of color values begins from the left side of the image and moves to the right over the lifetime of the particle, therefore only the horizontal dimension of the image is used. The ColorRangeImage has higher priority than ColorEnd and ColorStart. If all three are set, ColorRangeImage should be used.

◆ ColorStart()

gz::math::Color sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::ColorStart ( ) const

Gets the starting color for all particles emitted.

The actual color will be interpolated between this color and the one set using ColorEnd(). Color::White is the default color for the particles unless a specific function is used.

Returns: The starting color.

◆ Duration()

double sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::Duration ( ) const

Get the number of seconds the emitter is active.

A value less than or equal to zero indicates infinite duration.

Returns: The number of seconds the emitter is active.

◆ Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::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.

◆ Emitting()

bool sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::Emitting ( ) const

Get whether the particle emitter should run (emit particles).

Returns: True if particles should be emitted.

◆ FilePath()

const std::string & sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::FilePath ( ) const

The path to the file where this element was loaded from.

Returns: Full path to the file on disk.

◆ Lifetime()

double sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::Lifetime ( ) const

Get the number of seconds each particle will 'live' for before being destroyed.

Returns: The lifetime of a particle in seconds.

◆ Load()

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

Load the particle emitter based on an 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.

◆ Material()

const sdf::Material * sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::Material ( ) const

Get a pointer to the emitter's material properties.

This can be a nullptr if material properties have not been set.

Returns: Pointer to the emitter's material properties. Nullptr indicates that material properties have not been set.

◆ MaxVelocity()

double sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::MaxVelocity ( ) const

Get the maximum velocity for each particle.

Returns: The maximum velocity for each particle in m/s.

◆ MinVelocity()

double sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::MinVelocity ( ) const

Get the minimum velocity for each particle.

Returns: The minimum velocity for each particle in m/s.

◆ Name()

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

Get the name of the particle emitter.

The name of the particle emitter should be unique within the scope of a Link.

Returns: Name of the particle emitter.

◆ ParticleSize()

gz::math::Vector3d sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::ParticleSize ( ) const

Get the size of a particle in meters.

Returns: Size of a particle in meters.

◆ PoseRelativeTo()

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

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

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

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

◆ Rate()

double sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::Rate ( ) const

Get the number of particles per second that should be emitted.

Returns: The number of particles to emit per second.

◆ RawPose()

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

Get the pose of the particle emitter.

This is the pose of the emitter as specified in SDF (<particle_emitter><pose> ... </pose></particle_emitter>).

Returns: The pose of the particle emitter.

◆ ScaleRate()

double sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::ScaleRate ( ) const

Get the amount by which to scale the particles in both x and y direction per second.

Returns: The scaling amount in the x and y directions.

◆ ScatterRatio()

float sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::ScatterRatio ( ) const

Get the particle scatter ratio.

This is used to determine the ratio of particles that will be detected by sensors.

Returns: Particle scatter ratio

See also: SetScatterRatio

◆ SemanticPose()

sdf::SemanticPose sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SemanticPose ( ) const

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

Returns: SemanticPose object for this emitter.

◆ SetColorEnd()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetColorEnd ( const gz::math::Color & _colorEnd )

Set the end color for all particles emitted.

Parameters

[in] _colorEnd The end color for all particles emitted.

See also: gz::math::Color ColorEnd()

◆ SetColorRangeImage()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetColorRangeImage ( const std::string & _image )

Set the path to the color image used as an affector.

Parameters

[in] _image The path to the color image.

See also: std::String ColorRangeImage()

◆ SetColorStart()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetColorStart ( const gz::math::Color & _colorStart )

Set the starting color for all particles emitted.

Parameters

[in] _colorStart The starting color for all particles emitted.

See also: gz::math::Color ColorStart()

◆ SetDuration()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetDuration ( double _duration )

Set the number of seconds the emitter is active.

Parameters

[in] _duration The number of seconds the emitter is active. A value less than or equal to zero means infinite duration.

◆ SetEmitting()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetEmitting ( bool _emitting )

Set whether the particle emitter is running, emitting particles.

Parameters

[in] _emitting True if the emitter should produce particles.

◆ SetFilePath()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetFilePath ( const std::string & _filePath )

Set the path to the file where this element was loaded from.

\paramp[in] _filePath Full path to the file on disk.

◆ SetLifetime()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetLifetime ( double _duration )

Set the number of seconds each particle will 'live' for.

Parameters

[in] _duration The number of seconds a particle will 'life' for. If _duration is <= 0, then the value std::numeric_limits<double>::min() will be used.

◆ SetMaterial()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetMaterial ( const sdf::Material & _material )

Set the emitter's material.

Parameters

[in] _material The material of the particle emitter.

◆ SetMaxVelocity()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetMaxVelocity ( double _vel )

Set the maximum velocity for each particle.

Parameters

[in] _vel The maximum velocity for each particle in m/s. A value of zero will be used if _vel is negative.

◆ SetMinVelocity()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetMinVelocity ( double _vel )

Set the minimum velocity for each particle.

Parameters

[in] _vel The minimum velocity for each particle in m/s. A value of zero will be used if _vel is negative.

◆ SetName()

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

Set the name of the particle emitter.

The name of the particle emitter should be unique within the scope of a Link.

Parameters

[in] _name Name of the particle emitter.

◆ SetParticleSize()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetParticleSize ( const gz::math::Vector3d & _size )

Set the size of a particle in meters.

Parameters

[in] _size Size of a particle in meters. Each component of _size must be greater than or equal to zero. Any negative value will be replaced with zero.

◆ SetPoseRelativeTo()

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

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

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

Parameters

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

◆ SetRate()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetRate ( double _rate )

Set the number of particles per second that should be emitted.

Parameters

[in] _rate The number of particle to emit per second. A value of zero will be used if _rate is negative.

◆ SetRawPose()

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

Set the pose of the particle emitter object.

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

Parameters

[in] _pose The pose of the particle emitter.

◆ SetScaleRate()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetScaleRate ( double _scaleRate )

Set the amount by which to scale the particles in both x and y direction per second.

Parameters

[in] _scaleRate The caling amount in the x and y directions. A value of zero will be used if _scaleRate is negative.

◆ SetScatterRatio()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetScatterRatio ( float _ratio )

Set the particle scatter ratio.

This is used to determine the ratio of particles that will be detected by sensors.

Parameters

[in] _ratio Scatter ratio.

◆ SetSize()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetSize ( const gz::math::Vector3d & _size )

Set the size of the emitter where the particles are sampled.

Parameters

[in] _size Size of the emitter in meters. Each component of _size must be greater than or equal to zero. Any negative value will be replaced with zero.

See also: gz::math::Vector3d Size()

◆ SetTopic()

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetTopic ( const std::string & _topic )

Set the topic used to update the particle emitter properties.

Parameters

[in] _topic The topic used to update the particle emitter.

◆ SetType() [1/2]

void sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetType ( const ParticleEmitterType _type )

Set the type of the particle emitter.

Parameters

[in] _type Type of the particle emitter.

◆ SetType() [2/2]

bool sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::SetType ( const std::string & _typeStr )

Set the type of the particle emitter.

The type of the particle emitter should be unique within the scope of a Link.

Parameters

[in] _typeStr Type of the particle emitter.

Returns: True if the _typeStr parameter matched a known emitter type. False if the emitter type could not be set.

◆ Size()

gz::math::Vector3d sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::Size ( ) const

Get the size of the emitter where the particles are sampled.

Returns: Size of the emitter region in meters.

◆ ToElement() [1/2]

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

Create and return an SDF element filled with data from this particle emitter.

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

Returns: SDF element pointer with updated particle emitter values.

◆ ToElement() [2/2]

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

Create and return an SDF element filled with data from this particle emitter.

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

Parameters

[out] _errors Vector of errors.

Returns: SDF element pointer with updated particle emitter values.

◆ Topic()

std::string sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::Topic ( ) const

Get the topic used to update the particle emitter properties.

Returns: The topic used to update the particle emitter.

◆ Type()

ParticleEmitterType sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::Type ( ) const

Get the type of the particle emitter.

The type of the particle emitter should be unique within the scope of a Link.

Returns: Type of the particle emitter.

◆ TypeStr()

std::string sdf::SDF_VERSION_NAMESPACE::ParticleEmitter::TypeStr ( ) const

Get the particle emitter type as a string.

Returns: The particle emitter type as a string.

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

ParticleEmitter.hh

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ParticleEmitter()

Member Function Documentation

◆ ColorEnd()

◆ ColorRangeImage()

◆ ColorStart()

◆ Duration()

◆ Element()

◆ Emitting()

◆ FilePath()

◆ Lifetime()

◆ Load()

◆ Material()

◆ MaxVelocity()

◆ MinVelocity()

◆ Name()

◆ ParticleSize()

◆ PoseRelativeTo()

◆ Rate()

◆ RawPose()

◆ ScaleRate()

◆ ScatterRatio()

◆ SemanticPose()

◆ SetColorEnd()

◆ SetColorRangeImage()

◆ SetColorStart()

◆ SetDuration()

◆ SetEmitting()

◆ SetFilePath()

◆ SetLifetime()

◆ SetMaterial()

◆ SetMaxVelocity()

◆ SetMinVelocity()

◆ SetName()

◆ SetParticleSize()

◆ SetPoseRelativeTo()

◆ SetRate()

◆ SetRawPose()

◆ SetScaleRate()

◆ SetScatterRatio()

◆ SetSize()

◆ SetTopic()

◆ SetType() [1/2]

◆ SetType() [2/2]

◆ Size()

◆ ToElement() [1/2]

◆ ToElement() [2/2]

◆ Topic()

◆ Type()

◆ TypeStr()