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17 #ifndef SDF_VISUAL_HH_
18 #define SDF_VISUAL_HH_
22 #include <gz/math/Pose3.hh>
31 #include "sdf/sdf_config.h"
37 inline namespace SDF_VERSION_NAMESPACE {
43 struct PoseRelativeToGraph;
82 public: std::string Name()
const;
87 public:
void SetName(
const std::string &_name)
const;
91 public:
bool CastShadows()
const;
95 public:
void SetCastShadows(
bool _castShadows);
99 public:
float Transparency()
const;
103 public:
void SetTransparency(
float _transparency);
107 public:
const Geometry *Geom()
const;
111 public:
void SetGeom(
const Geometry &_geom);
118 public:
const gz::math::Pose3d &Pose()
const
125 public:
void SetPose(
const gz::math::Pose3d &_pose)
132 public:
const gz::math::Pose3d &RawPose()
const;
137 public:
void SetRawPose(
const gz::math::Pose3d &_pose);
143 public:
const std::string &PoseRelativeTo()
const;
149 public:
void SetPoseRelativeTo(
const std::string &_frame);
156 public:
const std::string &PoseFrame()
const
164 public:
void SetPoseFrame(
const std::string &_frame)
190 public: uint32_t VisibilityFlags()
const;
194 public:
void SetVisibilityFlags(uint32_t _flags);
200 public:
void SetHasLaserRetro(
bool _laserRetro);
204 public:
bool HasLaserRetro()
const;
208 public:
double LaserRetro()
const;
212 public:
void SetLaserRetro(
double _laserRetro);
218 private:
void SetXmlParentName(
const std::string &_xmlParentName);
224 private:
void SetPoseRelativeToGraph(
225 std::weak_ptr<const PoseRelativeToGraph> _graph);
233 private: VisualPrivate *dataPtr =
nullptr;
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:79
namespace for Simulation Description Format parser
Definition: Actor.hh:32
This class contains visual material properties.
Definition: Material.hh:45
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:53
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49