#include <Visual.hh>

Public Member Functions
	Visual ()
	Default constructor.

void	AddPlugin (const Plugin &_plugin)
	Add a plugin to this object.

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

void	ClearPlugins ()
	Remove all plugins.

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

const Geometry *	Geom () const
	Get a pointer to the visual's geometry.

bool	HasLaserRetro () const
	Get whether the lidar reflective intensity was set was set.

double	LaserRetro () const
	Get the flidar reflective intensity.

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

Errors	Load (ElementPtr _sdf, const ParserConfig &_config)
	Load the visual based on a element pointer.

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

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

sdf::Plugins &	Plugins ()
	Get a mutable vector of plugins attached to this object.

const sdf::Plugins &	Plugins () const
	Get the plugins attached to this object.

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

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

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

void	SetCastShadows (bool _castShadows)
	Set whether the visual casts shadows.

void	SetGeom (const Geometry &_geom)
	Set the visual's geometry.

void	SetHasLaserRetro (bool _laserRetro)
	Set whether the lidar reflective intensity has been specified.

void	SetLaserRetro (double _laserRetro)
	Set the lidar reflective intensity.

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

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

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

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

void	SetTransparency (float _transparency)
	Set the transparency value for the visual.

void	SetVisibilityFlags (uint32_t _flags)
	Set the visibility flags of a visual.

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

float	Transparency () const
	Get the transparency value of the visual.

uint32_t	VisibilityFlags () const
	Get the visibility flags of a visual.

Constructor & Destructor Documentation

◆ Visual()

sdf::SDF_VERSION_NAMESPACE::Visual::Visual ( )

Default constructor.

Member Function Documentation

◆ AddPlugin()

void sdf::SDF_VERSION_NAMESPACE::Visual::AddPlugin ( const Plugin & _plugin )

Add a plugin to this object.

Parameters

[in] _plugin Plugin to add.

◆ CastShadows()

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

Get whether the visual casts shadows.

Returns: True if the visual casts shadows, false otherwise

◆ ClearPlugins()

void sdf::SDF_VERSION_NAMESPACE::Visual::ClearPlugins ( )

Remove all plugins.

◆ Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Visual::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.

◆ Geom()

const Geometry * sdf::SDF_VERSION_NAMESPACE::Visual::Geom ( ) const

Get a pointer to the visual's geometry.

Returns: The visual's geometry.

◆ HasLaserRetro()

bool sdf::SDF_VERSION_NAMESPACE::Visual::HasLaserRetro ( ) const

Get whether the lidar reflective intensity was set was set.

Returns: True if the lidar reflective intensity was set was set.

◆ LaserRetro()

double sdf::SDF_VERSION_NAMESPACE::Visual::LaserRetro ( ) const

Get the flidar reflective intensity.

Returns: The lidar reflective intensity.

◆ Load() [1/2]

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

Load the visual 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.

◆ Load() [2/2]

Errors sdf::SDF_VERSION_NAMESPACE::Visual::Load	(	ElementPtr	_sdf,
		const ParserConfig &	_config
	)

Load the visual 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
[in]	_config	Parser configuration

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::Visual::Material ( ) const

Get a pointer to the visual's material properties.

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

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

◆ Name()

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

Get the name of the visual.

The name of the visual must be unique within the scope of a Link.

Returns: Name of the visual.

◆ Plugins() [1/2]

sdf::Plugins & sdf::SDF_VERSION_NAMESPACE::Visual::Plugins ( )

Get a mutable vector of plugins attached to this object.

Returns: A vector of Plugin, which will be empty if there are no plugins.

◆ Plugins() [2/2]

const sdf::Plugins & sdf::SDF_VERSION_NAMESPACE::Visual::Plugins ( ) const

Get the plugins attached to this object.

Returns: A vector of Plugin, which will be empty if there are no plugins.

◆ PoseRelativeTo()

const std::string & sdf::SDF_VERSION_NAMESPACE::Visual::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.

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

◆ RawPose()

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

Get the pose of the visual object.

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

Returns: The pose of the visual object.

◆ SemanticPose()

sdf::SemanticPose sdf::SDF_VERSION_NAMESPACE::Visual::SemanticPose ( ) const

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

Returns: SemanticPose object for this link.

◆ SetCastShadows()

void sdf::SDF_VERSION_NAMESPACE::Visual::SetCastShadows ( bool _castShadows )

Set whether the visual casts shadows.

Parameters

[in] _castShadows True to cast shadows, false to not cast shadows

◆ SetGeom()

void sdf::SDF_VERSION_NAMESPACE::Visual::SetGeom ( const Geometry & _geom )

Set the visual's geometry.

Parameters

[in] _geom The geometry of the visual object

◆ SetHasLaserRetro()

void sdf::SDF_VERSION_NAMESPACE::Visual::SetHasLaserRetro ( bool _laserRetro )

Set whether the lidar reflective intensity has been specified.

Parameters

[in] _laserRetro True if the lidar reflective intensity has been set in the sdf.

◆ SetLaserRetro()

void sdf::SDF_VERSION_NAMESPACE::Visual::SetLaserRetro ( double _laserRetro )

Set the lidar reflective intensity.

Parameters

[in] _laserRetro The lidar reflective intensity.

◆ SetMaterial()

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

Set the visual's material.

Parameters

[in] _material The material of the visual object

◆ SetName()

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

Set the name of the visual.

The name of the visual must be unique within the scope of a Link.

Parameters

[in] _name Name of the visual.

◆ SetPoseRelativeTo()

void sdf::SDF_VERSION_NAMESPACE::Visual::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 link.

Parameters

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

◆ SetRawPose()

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

Set the pose of the visual object.

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

Parameters

[in] _pose The pose of the visual object.

◆ SetTransparency()

void sdf::SDF_VERSION_NAMESPACE::Visual::SetTransparency ( float _transparency )

Set the transparency value for the visual.

Parameters

[in] _transparency Transparency value between 0 and 1

◆ SetVisibilityFlags()

void sdf::SDF_VERSION_NAMESPACE::Visual::SetVisibilityFlags ( uint32_t _flags )

Set the visibility flags of a visual.

Parameters

[in] _flags visibility flags

◆ ToElement()

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

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

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

Returns: SDF element pointer with updated visual values.

◆ Transparency()

float sdf::SDF_VERSION_NAMESPACE::Visual::Transparency ( ) const

Get the transparency value of the visual.

Returns: Transparency value

◆ VisibilityFlags()

uint32_t sdf::SDF_VERSION_NAMESPACE::Visual::VisibilityFlags ( ) const

Get the visibility flags of a visual.

Returns: visibility flags

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

Visual.hh

Public Member Functions

Constructor & Destructor Documentation

◆ Visual()

Member Function Documentation

◆ AddPlugin()

◆ CastShadows()

◆ ClearPlugins()

◆ Element()

◆ Geom()

◆ HasLaserRetro()

◆ LaserRetro()

◆ Load() [1/2]

◆ Load() [2/2]

◆ Material()

◆ Name()

◆ Plugins() [1/2]

◆ Plugins() [2/2]

◆ PoseRelativeTo()

◆ RawPose()

◆ SemanticPose()

◆ SetCastShadows()

◆ SetGeom()

◆ SetHasLaserRetro()

◆ SetLaserRetro()

◆ SetMaterial()

◆ SetName()

◆ SetPoseRelativeTo()

◆ SetRawPose()

◆ SetTransparency()

◆ SetVisibilityFlags()

◆ ToElement()

◆ Transparency()

◆ VisibilityFlags()