#include <World.hh>

Public Member Functions
	World ()
	Default constructor.

const Actor *	ActorByIndex (const uint64_t _index) const
	Get an actor based on an index.

Actor *	ActorByIndex (uint64_t _index)
	Get a mutable actor based on an index.

Actor *	ActorByName (const std::string &_name)
	Get a mutable actor based on a name.

const Actor *	ActorByName (const std::string &_name) const
	Get an actor based on a name.

uint64_t	ActorCount () const
	Get the number of actors.

bool	ActorNameExists (const std::string &_name) const
	Get whether an actor name exists.

bool	AddActor (const Actor &_actor)
	Add an actor to the world.

bool	AddFrame (const Frame &_frame)
	Add a frame object to the world.

bool	AddJoint (const Joint &_joint)
	Add a joint to the world.

bool	AddLight (const Light &_light)
	Add a light to the world.

bool	AddModel (const Model &_model)
	Add a model to the world.

bool	AddPhysics (const Physics &_physics)
	Add a physics object to the world.

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

const sdf::Atmosphere *	Atmosphere () const
	Get a pointer to the atmosphere model associated with this world.

std::string	AudioDevice () const
	Get the audio device name.

void	ClearActors ()
	Remove all actors.

void	ClearFrames ()
	Remove all frames.

void	ClearJoints ()
	Remove all joints.

void	ClearLights ()
	Remove all lights.

void	ClearModels ()
	Remove all models.

void	ClearPhysics ()
	Remove all physics.

void	ClearPlugins ()
	Remove all plugins.

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

const Frame *	FrameByIndex (const uint64_t _index) const
	Get an immediate (not nested) child explicit frame based on an index.

Frame *	FrameByIndex (uint64_t _index)
	Get a mutable immediate (not nested) child explicit frame based on an index.

Frame *	FrameByName (const std::string &_name)
	Get a mutable explicit frame based on a name.

const Frame *	FrameByName (const std::string &_name) const
	Get an explicit frame based on a name.

uint64_t	FrameCount () const
	Get the number of explicit frames that are immediate (not nested) children of this World object.

bool	FrameNameExists (const std::string &_name) const
	Get whether an explicit frame name exists.

gz::math::Vector3d	Gravity () const
	Get the acceleration due to gravity.

const sdf::Gui *	Gui () const
	Get a pointer to the Gui associated with this world.

std::shared_ptr< const InterfaceModel >	InterfaceModelByIndex (const uint64_t _index) const
	Get an immediate (not recursively nested) child interface model based on an index.

uint64_t	InterfaceModelCount () const
	Get the number of nested interface models that are immediate (not recursively nested) children of this World object.

const NestedInclude *	InterfaceModelNestedIncludeByIndex (const uint64_t _index) const
	Get the nested include information of an immediate (not recursively nested) child interface model based on an index.

Joint *	JointByIndex (uint64_t _index)
	Get a mutable joint based on an index.

const Joint *	JointByIndex (uint64_t _index) const
	Get a joint based on an index.

Joint *	JointByName (const std::string &_name)
	Get a mutable joint based on a name.

const Joint *	JointByName (const std::string &_name) const
	Get an joint based on a name.

uint64_t	JointCount () const
	Get the number of joints.

bool	JointNameExists (const std::string &_name) const
	Get whether a joint name exists.

const Light *	LightByIndex (const uint64_t _index) const
	Get a light based on an index.

Light *	LightByIndex (uint64_t _index)
	Get a mutable light based on an index.

uint64_t	LightCount () const
	Get the number of lights.

bool	LightNameExists (const std::string &_name) const
	Get whether a light name exists.

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

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

gz::math::Vector3d	MagneticField () const
	Get the magnetic vector in Tesla, expressed in a coordinate frame defined by the SphericalCoordinates property.

const Model *	ModelByIndex (const uint64_t _index) const
	Get an immediate (not recursively nested) child model based on an index.

Model *	ModelByIndex (uint64_t _index)
	Get an immediate (not recursively nested) mutable child model based on an index.

Model *	ModelByName (const std::string &_name)
	Get a mutable model based on a name.

const Model *	ModelByName (const std::string &_name) const
	Get a model based on a name.

uint64_t	ModelCount () const
	Get the number of models that are immediate (not nested) children of this World object.

bool	ModelNameExists (const std::string &_name) const
	Get whether a model name exists.

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

bool	NameExistsInFrameAttachedToGraph (const std::string &_name) const
	Check if a given name exists in the FrameAttachedTo graph at the scope of the world.

const Physics *	PhysicsByIndex (const uint64_t _index) const
	Get a physics profile based on an index.

Physics *	PhysicsByIndex (uint64_t _index)
	Get a mutable physics profile based on an index.

uint64_t	PhysicsCount () const
	Get the number of physics profiles.

const Physics *	PhysicsDefault () const
	Get the default physics profile.

bool	PhysicsNameExists (const std::string &_name) const
	Get whether a physics profile name exists.

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.

void	ResolveAutoInertials (sdf::Errors &_errors, const ParserConfig &_config)
	Calculate and set the inertials for all the models in the world object.

const sdf::Scene *	Scene () const
	Get a pointer to the Scene associated with this world.

void	SetAtmosphere (const sdf::Atmosphere &_atmosphere)
	Set the atmosphere model associated with this world.

void	SetAudioDevice (const std::string &_device)
	Set the audio device name.

void	SetGravity (const gz::math::Vector3d &_gravity)
	Set the acceleration due to gravity.

void	SetGui (const sdf::Gui &_gui)
	Set the Gui parameters associated with this world.

void	SetMagneticField (const gz::math::Vector3d &_mag)
	Set the magnetic vector in Tesla, expressed in a coordinate frame defined by the SphericalCoordinate.

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

void	SetScene (const sdf::Scene &_scene)
	Set the Scene parameters associated with this world.

void	SetSphericalCoordinates (const gz::math::SphericalCoordinates &_coord)
	Set the spherical coordinates for the world origin.

void	SetWindLinearVelocity (const gz::math::Vector3d &_wind)
	Set the wind linear velocity in the global/world coordinate frame.

const gz::math::SphericalCoordinates *	SphericalCoordinates () const
	Get the spherical coordinates for the world origin.

sdf::ElementPtr	ToElement (const OutputConfig &_config=OutputConfig::GlobalConfig()) const
	Create and return an SDF element filled with data from this world.

Errors	ValidateGraphs () const
	Check that the FrameAttachedToGraph and PoseRelativeToGraph are valid.

gz::math::Vector3d	WindLinearVelocity () const
	Get the wind linear velocity in the global/world coordinate frame.

Constructor & Destructor Documentation

◆ World()

sdf::SDF_VERSION_NAMESPACE::World::World ( )

Default constructor.

Member Function Documentation

◆ ActorByIndex() [1/2]

const Actor * sdf::SDF_VERSION_NAMESPACE::World::ActorByIndex ( const uint64_t _index ) const

Get an actor based on an index.

Parameters

[in] _index Index of the actor. The index should be in the range [0..ActorCount()).

Returns: Pointer to the actor. Nullptr if the index does not exist.

See also: uint64_t ActorCount() const

◆ ActorByIndex() [2/2]

Actor * sdf::SDF_VERSION_NAMESPACE::World::ActorByIndex ( uint64_t _index )

Get a mutable actor based on an index.

Parameters

[in] _index Index of the actor. The index should be in the range [0..ActorCount()).

Returns: Pointer to the actor. Nullptr if the index does not exist.

See also: uint64_t ActorCount() const

◆ ActorByName() [1/2]

Actor * sdf::SDF_VERSION_NAMESPACE::World::ActorByName ( const std::string & _name )

Get a mutable actor based on a name.

Parameters

[in] _name Name of the actor.

Returns: Pointer to the actor. Nullptr if an actor with the given name does not exist.

See also: bool ActorNameExists(const std::string &_name) const

◆ ActorByName() [2/2]

const Actor * sdf::SDF_VERSION_NAMESPACE::World::ActorByName ( const std::string & _name ) const

Get an actor based on a name.

Parameters

[in] _name Name of the actor.

Returns: Pointer to the actor. Nullptr if an actor with the given name does not exist.

See also: bool ActorNameExists(const std::string &_name) const

◆ ActorCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::World::ActorCount ( ) const

Get the number of actors.

Returns: Number of actors contained in this World object.

◆ ActorNameExists()

bool sdf::SDF_VERSION_NAMESPACE::World::ActorNameExists ( const std::string & _name ) const

Get whether an actor name exists.

Parameters

[in] _name Name of the actor to check.

Returns: True if there exists an actor with the given name.

◆ AddActor()

bool sdf::SDF_VERSION_NAMESPACE::World::AddActor ( const Actor & _actor )

Add an actor to the world.

Parameters

[in] _actor Actor to add.

Returns: True if successful, false if an actor with the name already exists.

◆ AddFrame()

bool sdf::SDF_VERSION_NAMESPACE::World::AddFrame ( const Frame & _frame )

Add a frame object to the world.

Parameters

[in] _frame Frame to add.

Returns: True if successful, false if a frames object with the name already exists.

◆ AddJoint()

bool sdf::SDF_VERSION_NAMESPACE::World::AddJoint ( const Joint & _joint )

Add a joint to the world.

Parameters

[in] _joint Joint to add.

Returns: True if successful, false if a joint with the name already exists.

◆ AddLight()

bool sdf::SDF_VERSION_NAMESPACE::World::AddLight ( const Light & _light )

Add a light to the world.

Parameters

[in] _light Light to add.

Returns: True if successful, false if a light with the name already exists.

◆ AddModel()

bool sdf::SDF_VERSION_NAMESPACE::World::AddModel ( const Model & _model )

Add a model to the world.

Parameters

[in] _model Model to add.

Returns: True if successful, false if a model with the name already exists.

◆ AddPhysics()

bool sdf::SDF_VERSION_NAMESPACE::World::AddPhysics ( const Physics & _physics )

Add a physics object to the world.

Parameters

[in] _physics Physics to add.

Returns: True if successful, false if a physics object with the name already exists.

◆ AddPlugin()

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

Add a plugin to this object.

Parameters

[in] _plugin Plugin to add.

◆ Atmosphere()

const sdf::Atmosphere * sdf::SDF_VERSION_NAMESPACE::World::Atmosphere ( ) const

Get a pointer to the atmosphere model associated with this world.

A nullptr indicates that an atmosphere model has not been set.

Returns: Pointer to this world's atmosphere model. Nullptr inidicates that there is no atmosphere model.

◆ AudioDevice()

std::string sdf::SDF_VERSION_NAMESPACE::World::AudioDevice ( ) const

Get the audio device name.

The audio device can be used to playback audio files. A value of "default" or an empty string indicates that the system's default audio device should be used.

Returns: Audio device name.

◆ ClearActors()

void sdf::SDF_VERSION_NAMESPACE::World::ClearActors ( )

Remove all actors.

◆ ClearFrames()

void sdf::SDF_VERSION_NAMESPACE::World::ClearFrames ( )

Remove all frames.

◆ ClearJoints()

void sdf::SDF_VERSION_NAMESPACE::World::ClearJoints ( )

Remove all joints.

◆ ClearLights()

void sdf::SDF_VERSION_NAMESPACE::World::ClearLights ( )

Remove all lights.

◆ ClearModels()

void sdf::SDF_VERSION_NAMESPACE::World::ClearModels ( )

Remove all models.

◆ ClearPhysics()

void sdf::SDF_VERSION_NAMESPACE::World::ClearPhysics ( )

Remove all physics.

◆ ClearPlugins()

void sdf::SDF_VERSION_NAMESPACE::World::ClearPlugins ( )

Remove all plugins.

◆ Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::World::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.

◆ FrameByIndex() [1/2]

const Frame * sdf::SDF_VERSION_NAMESPACE::World::FrameByIndex ( const uint64_t _index ) const

Get an immediate (not nested) child explicit frame based on an index.

Parameters

[in] _index Index of the explicit frame. The index should be in the range [0..FrameCount()).

Returns: Pointer to the explicit frame. Nullptr if the index does not exist.

See also: uint64_t FrameCount() const

◆ FrameByIndex() [2/2]

Frame * sdf::SDF_VERSION_NAMESPACE::World::FrameByIndex ( uint64_t _index )

Get a mutable immediate (not nested) child explicit frame based on an index.

Parameters

[in] _index Index of the explicit frame. The index should be in the range [0..FrameCount()).

Returns: Pointer to the explicit frame. Nullptr if the index does not exist.

See also: uint64_t FrameCount() const

◆ FrameByName() [1/2]

Frame * sdf::SDF_VERSION_NAMESPACE::World::FrameByName ( const std::string & _name )

Get a mutable explicit frame based on a name.

Parameters

[in] _name Name of the explicit frame. To get a frame in a nested model, prefix the frame name with the sequence of nested models containing this frame, delimited by "::".

Returns: Pointer to the explicit frame. Nullptr if the name does not exist.

◆ FrameByName() [2/2]

const Frame * sdf::SDF_VERSION_NAMESPACE::World::FrameByName ( const std::string & _name ) const

Get an explicit frame based on a name.

Parameters

[in] _name Name of the explicit frame. To get a frame in a nested model, prefix the frame name with the sequence of nested models containing this frame, delimited by "::".

Returns: Pointer to the explicit frame. Nullptr if the name does not exist.

◆ FrameCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::World::FrameCount ( ) const

Get the number of explicit frames that are immediate (not nested) children of this World object.

Remarks: FrameByName() can find explicit frames that are not immediate children of this World object.

Returns: Number of explicit frames contained in this World object.

◆ FrameNameExists()

bool sdf::SDF_VERSION_NAMESPACE::World::FrameNameExists ( const std::string & _name ) const

Get whether an explicit frame name exists.

Parameters

[in] _name Name of the explicit frame to check. To check for a frame in a nested model, prefix the frame name with the sequence of nested models containing this frame, delimited by "::".

Returns: True if there exists an explicit frame with the given name.

◆ Gravity()

gz::math::Vector3d sdf::SDF_VERSION_NAMESPACE::World::Gravity ( ) const

Get the acceleration due to gravity.

The default value is Earth's standard gravity at sea level, which equals [0, 0, -9.80665] \((\frac{m}{s^2})\)

Returns: Gravity vector in meters per second squared \((\frac{m}{s^2})\)

◆ Gui()

const sdf::Gui * sdf::SDF_VERSION_NAMESPACE::World::Gui ( ) const

Get a pointer to the Gui associated with this world.

A nullptr indicates that a Gui element has not been specified.

Returns: Pointer to this world's Gui parameters. Nullptr inidicates that there are no Gui parameters.

◆ InterfaceModelByIndex()

std::shared_ptr< const InterfaceModel > sdf::SDF_VERSION_NAMESPACE::World::InterfaceModelByIndex ( const uint64_t _index ) const

Get an immediate (not recursively nested) child interface model based on an index.

Parameters

[in] _index Index of the nested interface model. The index should be in the range [0..InterfaceModelCount()).

Returns: Pointer to the model. Nullptr if the index does not exist.

See also: uint64_t InterfaceModelCount() const

◆ InterfaceModelCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::World::InterfaceModelCount ( ) const

Get the number of nested interface models that are immediate (not recursively nested) children of this World object.

Returns: Number of nested interface models contained in this World object.

◆ InterfaceModelNestedIncludeByIndex()

const NestedInclude * sdf::SDF_VERSION_NAMESPACE::World::InterfaceModelNestedIncludeByIndex ( const uint64_t _index ) const

Get the nested include information of an immediate (not recursively nested) child interface model based on an index.

Parameters

[in] _index Index of the nested interface model. The index should be in the range [0..InterfaceModelCount()).

Returns: Pointer to the nested include information. Nullptr if the index does not exist.

See also: uint64_t InterfaceModelCount() const

◆ JointByIndex() [1/2]

Joint * sdf::SDF_VERSION_NAMESPACE::World::JointByIndex ( uint64_t _index )

Get a mutable joint based on an index.

Parameters

[in] _index Index of the joint. The index should be in the range [0..JointCount()).

Returns: Pointer to the joint. Nullptr if the index does not exist.

See also: uint64_t JointCount() const

◆ JointByIndex() [2/2]

const Joint * sdf::SDF_VERSION_NAMESPACE::World::JointByIndex ( uint64_t _index ) const

Get a joint based on an index.

Parameters

[in] _index Index of the joint. The index should be in the range [0..JointCount()).

Returns: Pointer to the joint. Nullptr if the index does not exist.

See also: uint64_t JointCount() const

◆ JointByName() [1/2]

Joint * sdf::SDF_VERSION_NAMESPACE::World::JointByName ( const std::string & _name )

Get a mutable joint based on a name.

Parameters

[in] _name Name of the joint. To get a joint in a nested model, prefix the joint name with the sequence of nested models containing this joint, delimited by "::".

Returns: Pointer to the joint. Nullptr if the name does not exist.

◆ JointByName() [2/2]

const Joint * sdf::SDF_VERSION_NAMESPACE::World::JointByName ( const std::string & _name ) const

Get an joint based on a name.

Parameters

[in] _name Name of the joint. To get a joint in a nested model, prefix the joint name with the sequence of nested models containing this joint, delimited by "::".

Returns: Pointer to the joint. Nullptr if the name does not exist.

◆ JointCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::World::JointCount ( ) const

Get the number of joints.

Returns: Number of joints contained in this World object.

◆ JointNameExists()

bool sdf::SDF_VERSION_NAMESPACE::World::JointNameExists ( const std::string & _name ) const

Get whether a joint name exists.

Parameters

[in] _name Name of the joint to check.

Returns: True if there exists a joint with the given name.

◆ LightByIndex() [1/2]

const Light * sdf::SDF_VERSION_NAMESPACE::World::LightByIndex ( const uint64_t _index ) const

Get a light based on an index.

Parameters

[in] _index Index of the light. The index should be in the range [0..LightCount()).

Returns: Pointer to the light. Nullptr if the index does not exist.

See also: uint64_t LightCount() const

◆ LightByIndex() [2/2]

Light * sdf::SDF_VERSION_NAMESPACE::World::LightByIndex ( uint64_t _index )

Get a mutable light based on an index.

Parameters

[in] _index Index of the light. The index should be in the range [0..LightCount()).

Returns: Pointer to the light. Nullptr if the index does not exist.

See also: uint64_t LightCount() const

◆ LightCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::World::LightCount ( ) const

Get the number of lights.

Returns: Number of lights contained in this World object.

◆ LightNameExists()

bool sdf::SDF_VERSION_NAMESPACE::World::LightNameExists ( const std::string & _name ) const

Get whether a light name exists.

Parameters

[in] _name Name of the light to check.

Returns: True if there exists a light with the given name.

◆ Load() [1/2]

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

Load the world 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::World::Load	(	sdf::ElementPtr	_sdf,
		const ParserConfig &	_config
	)

Load the world 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	Custom 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.

◆ MagneticField()

gz::math::Vector3d sdf::SDF_VERSION_NAMESPACE::World::MagneticField ( ) const

Get the magnetic vector in Tesla, expressed in a coordinate frame defined by the SphericalCoordinates property.

A spherical coordinate can be specified in SDF using the <spherical_coordinates> element.

Returns: Magnetic field vector.

See also: SphericalCoordinates

◆ ModelByIndex() [1/2]

const Model * sdf::SDF_VERSION_NAMESPACE::World::ModelByIndex ( const uint64_t _index ) const

Get an immediate (not recursively nested) child model based on an index.

Parameters

[in] _index Index of the model. The index should be in the range [0..ModelCount()).

Returns: Pointer to the model. Nullptr if the index does not exist.

See also: uint64_t ModelCount() const

◆ ModelByIndex() [2/2]

Model * sdf::SDF_VERSION_NAMESPACE::World::ModelByIndex ( uint64_t _index )

Get an immediate (not recursively nested) mutable child model based on an index.

Parameters

[in] _index Index of the model. The index should be in the range [0..ModelCount()).

Returns: Pointer to the model. Nullptr if the index does not exist.

See also: uint64_t ModelCount() const

◆ ModelByName() [1/2]

Model * sdf::SDF_VERSION_NAMESPACE::World::ModelByName ( const std::string & _name )

Get a mutable model based on a name.

Parameters

[in] _name Name of the model. To get a model nested in other models, prefix the model name with the sequence of nested model names, delimited by "::".

Returns: Pointer to the model. Nullptr if a model with the given name does not exist.

See also: bool ModelNameExists(const std::string &_name) const

◆ ModelByName() [2/2]

const Model * sdf::SDF_VERSION_NAMESPACE::World::ModelByName ( const std::string & _name ) const

Get a model based on a name.

Parameters

[in] _name Name of the model. To get a model nested in other models, prefix the model name with the sequence of nested model names, delimited by "::".

Returns: Pointer to the model. Nullptr if a model with the given name does not exist.

See also: bool ModelNameExists(const std::string &_name) const

◆ ModelCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::World::ModelCount ( ) const

Get the number of models that are immediate (not nested) children of this World object.

Remarks: ModelByName() can find nested models that are not immediate children of this World object.

Returns: Number of models contained in this World object.

◆ ModelNameExists()

bool sdf::SDF_VERSION_NAMESPACE::World::ModelNameExists ( const std::string & _name ) const

Get whether a model name exists.

Parameters

[in] _name Name of the model to check. To check for a model nested in other models, prefix the model name with the sequence of nested models containing this model, delimited by "::".

Returns: True if there exists a model with the given name.

◆ Name()

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

Get the name of the world.

Returns: Name of the world.

◆ NameExistsInFrameAttachedToGraph()

bool sdf::SDF_VERSION_NAMESPACE::World::NameExistsInFrameAttachedToGraph ( const std::string & _name ) const

Check if a given name exists in the FrameAttachedTo graph at the scope of the world.

Parameters

[in] _name Name of the implicit or explicit frame to check. To check for a frame in a nested model, prefix the frame name with the sequence of nested models containing this frame, delimited by "::".

Returns: True if the frame name is found in the FrameAttachedTo graph. False otherwise, or if the frame graph is invalid.

Note: This function assumes the world has a valid FrameAttachedTo graph. It will return false if the graph is invalid.

◆ PhysicsByIndex() [1/2]

const Physics * sdf::SDF_VERSION_NAMESPACE::World::PhysicsByIndex ( const uint64_t _index ) const

Get a physics profile based on an index.

Parameters

[in] _index Index of the physics profile. The index should be in the range [0..PhysicsCount()).

Returns: Pointer to the physics profile. Nullptr if the index does not exist.

◆ PhysicsByIndex() [2/2]

Physics * sdf::SDF_VERSION_NAMESPACE::World::PhysicsByIndex ( uint64_t _index )

Get a mutable physics profile based on an index.

Parameters

[in] _index Index of the physics profile. The index should be in the range [0..PhysicsCount()).

Returns: Pointer to the physics profile. Nullptr if the index does not exist.

◆ PhysicsCount()

uint64_t sdf::SDF_VERSION_NAMESPACE::World::PhysicsCount ( ) const

Get the number of physics profiles.

Returns: Number of physics profiles contained in this World object.

◆ PhysicsDefault()

const Physics * sdf::SDF_VERSION_NAMESPACE::World::PhysicsDefault ( ) const

Get the default physics profile.

Returns: Pointer to the default physics profile.

◆ PhysicsNameExists()

bool sdf::SDF_VERSION_NAMESPACE::World::PhysicsNameExists ( const std::string & _name ) const

Get whether a physics profile name exists.

Parameters

[in] _name Name of the physics profile to check.

Returns: True if there exists a physics profile with the given name.

◆ Plugins() [1/2]

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

Get the plugins attached to this object.

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

◆ ResolveAutoInertials()

void sdf::SDF_VERSION_NAMESPACE::World::ResolveAutoInertials	(	sdf::Errors &	_errors,
		const ParserConfig &	_config
	)

Calculate and set the inertials for all the models in the world object.

Parameters

[out]	_errrors	A vector of Errors objects. Each errors contains an Error code and a message. An empty errors vector indicates no errors
[in]	_config	Custom parser configuration

◆ Scene()

const sdf::Scene * sdf::SDF_VERSION_NAMESPACE::World::Scene ( ) const

Get a pointer to the Scene associated with this world.

A nullptr indicates that a Scene element has not been specified.

Returns: Pointer to this world's Scene parameters. Nullptr inidicates that there are no Scene parameters.

◆ SetAtmosphere()

void sdf::SDF_VERSION_NAMESPACE::World::SetAtmosphere ( const sdf::Atmosphere & _atmosphere )

Set the atmosphere model associated with this world.

Parameters

[in] _atmosphere The new atmosphere model for this world.

◆ SetAudioDevice()

void sdf::SDF_VERSION_NAMESPACE::World::SetAudioDevice ( const std::string & _device )

Set the audio device name.

See std::string AudioDevice() const for more information.

Parameters

[in] _device The new audio device name.

See also: std::string AudioDevice() const

◆ SetGravity()

void sdf::SDF_VERSION_NAMESPACE::World::SetGravity ( const gz::math::Vector3d & _gravity )

Set the acceleration due to gravity.

Units are meters per second squared \((\frac{m}{s^2})\)

Parameters

[in] _gravity The new gravity vector.

◆ SetGui()

void sdf::SDF_VERSION_NAMESPACE::World::SetGui ( const sdf::Gui & _gui )

Set the Gui parameters associated with this world.

Parameters

[in] _gui The new Gui parameter for this world

◆ SetMagneticField()

void sdf::SDF_VERSION_NAMESPACE::World::SetMagneticField ( const gz::math::Vector3d & _mag )

Set the magnetic vector in Tesla, expressed in a coordinate frame defined by the SphericalCoordinate.

A spherical coordinate can be specified in SDF using the <spherical_coordinates> element.

Parameters

[in] _mag The new magnetic field vector.

See also: SphericalCoordinates

◆ SetName()

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

Set the name of the world.

Parameters

[in] _name Name of the world.

◆ SetScene()

void sdf::SDF_VERSION_NAMESPACE::World::SetScene ( const sdf::Scene & _scene )

Set the Scene parameters associated with this world.

Parameters

[in] _gui The new Scene parameter for this world

◆ SetSphericalCoordinates()

void sdf::SDF_VERSION_NAMESPACE::World::SetSphericalCoordinates ( const gz::math::SphericalCoordinates & _coord )

Set the spherical coordinates for the world origin.

Parameters

[in] _coord The new coordinates for the world origin.

◆ SetWindLinearVelocity()

void sdf::SDF_VERSION_NAMESPACE::World::SetWindLinearVelocity ( const gz::math::Vector3d & _wind )

Set the wind linear velocity in the global/world coordinate frame.

Units are meters per second \((\frac{m}{s})\)

Parameters

[in] _wind The new linear velocity of wind.

See also: gz::math::Vector3d WindLinearVelocity() const

◆ SphericalCoordinates()

const gz::math::SphericalCoordinates * sdf::SDF_VERSION_NAMESPACE::World::SphericalCoordinates ( ) const

Get the spherical coordinates for the world origin.

Returns: Spherical coordinates or null if not defined.

◆ ToElement()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::World::ToElement ( const OutputConfig & _config = OutputConfig::GlobalConfig() ) const

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

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

Parameters

[in] _config Custom parser configuration

Returns: SDF element pointer with updated world values.

◆ ValidateGraphs()

Errors sdf::SDF_VERSION_NAMESPACE::World::ValidateGraphs ( ) const

Check that the FrameAttachedToGraph and PoseRelativeToGraph are valid.

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

◆ WindLinearVelocity()

gz::math::Vector3d sdf::SDF_VERSION_NAMESPACE::World::WindLinearVelocity ( ) const

Get the wind linear velocity in the global/world coordinate frame.

Units are meters per second \((\frac{m}{s})\)

Returns: Linear velocity of wind in the global/world coordinate frame.

See also: void SetWindLinearVelocity(const gz::math::Vector3d &_wind)

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

World.hh

Public Member Functions

Constructor & Destructor Documentation

◆ World()

Member Function Documentation

◆ ActorByIndex() [1/2]

◆ ActorByIndex() [2/2]

◆ ActorByName() [1/2]

◆ ActorByName() [2/2]

◆ ActorCount()

◆ ActorNameExists()

◆ AddActor()

◆ AddFrame()

◆ AddJoint()

◆ AddLight()

◆ AddModel()

◆ AddPhysics()

◆ AddPlugin()

◆ Atmosphere()

◆ AudioDevice()

◆ ClearActors()

◆ ClearFrames()

◆ ClearJoints()

◆ ClearLights()

◆ ClearModels()

◆ ClearPhysics()

◆ ClearPlugins()

◆ Element()

◆ FrameByIndex() [1/2]

◆ FrameByIndex() [2/2]

◆ FrameByName() [1/2]

◆ FrameByName() [2/2]

◆ FrameCount()

◆ FrameNameExists()

◆ Gravity()

◆ Gui()

◆ InterfaceModelByIndex()

◆ InterfaceModelCount()

◆ InterfaceModelNestedIncludeByIndex()

◆ JointByIndex() [1/2]

◆ JointByIndex() [2/2]

◆ JointByName() [1/2]

◆ JointByName() [2/2]

◆ JointCount()

◆ JointNameExists()

◆ LightByIndex() [1/2]

◆ LightByIndex() [2/2]

◆ LightCount()

◆ LightNameExists()

◆ Load() [1/2]

◆ Load() [2/2]

◆ MagneticField()

◆ ModelByIndex() [1/2]

◆ ModelByIndex() [2/2]

◆ ModelByName() [1/2]

◆ ModelByName() [2/2]

◆ ModelCount()

◆ ModelNameExists()

◆ Name()

◆ NameExistsInFrameAttachedToGraph()

◆ PhysicsByIndex() [1/2]

◆ PhysicsByIndex() [2/2]

◆ PhysicsCount()

◆ PhysicsDefault()

◆ PhysicsNameExists()

◆ Plugins() [1/2]

◆ Plugins() [2/2]

◆ ResolveAutoInertials()

◆ Scene()

◆ SetAtmosphere()

◆ SetAudioDevice()

◆ SetGravity()

◆ SetGui()

◆ SetMagneticField()

◆ SetName()

◆ SetScene()

◆ SetSphericalCoordinates()

◆ SetWindLinearVelocity()

◆ SphericalCoordinates()

◆ ToElement()

◆ ValidateGraphs()