Visual.hh
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2  * Copyright 2018 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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15  *
16  */
17 #ifndef SDF_VISUAL_HH_
18 #define SDF_VISUAL_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <gz/math/Pose3.hh>
23 #include "sdf/Box.hh"
24 #include "sdf/Cylinder.hh"
25 #include "sdf/Element.hh"
26 #include "sdf/Material.hh"
27 #include "sdf/Plane.hh"
28 #include "sdf/SemanticPose.hh"
29 #include "sdf/Sphere.hh"
30 #include "sdf/Types.hh"
31 #include "sdf/sdf_config.h"
32 #include "sdf/system_util.hh"
33 
34 namespace sdf
35 {
36  // Inline bracket to help doxygen filtering.
37  inline namespace SDF_VERSION_NAMESPACE {
38  //
39 
40  // Forward declarations.
41  class VisualPrivate;
42  class Geometry;
43  struct PoseRelativeToGraph;
44 
46  {
48  public: Visual();
49 
52  public: Visual(const Visual &_visual);
53 
56  public: Visual(Visual &&_visual) noexcept;
57 
61  public: Visual &operator=(Visual &&_visual);
62 
66  public: Visual &operator=(const Visual &_visual);
67 
69  public: ~Visual();
70 
77  public: Errors Load(ElementPtr _sdf);
78 
82  public: std::string Name() const;
83 
87  public: void SetName(const std::string &_name) const;
88 
91  public: bool CastShadows() const;
92 
95  public: void SetCastShadows(bool _castShadows);
96 
99  public: float Transparency() const;
100 
103  public: void SetTransparency(float _transparency);
104 
107  public: const Geometry *Geom() const;
108 
111  public: void SetGeom(const Geometry &_geom);
112 
118  public: const gz::math::Pose3d &Pose() const
119  SDF_DEPRECATED(9.0);
120 
125  public: void SetPose(const gz::math::Pose3d &_pose)
126  SDF_DEPRECATED(9.0);
127 
132  public: const gz::math::Pose3d &RawPose() const;
133 
137  public: void SetRawPose(const gz::math::Pose3d &_pose);
138 
143  public: const std::string &PoseRelativeTo() const;
144 
149  public: void SetPoseRelativeTo(const std::string &_frame);
150 
156  public: const std::string &PoseFrame() const
157  SDF_DEPRECATED(9.0);
158 
164  public: void SetPoseFrame(const std::string &_frame)
165  SDF_DEPRECATED(9.0);
166 
170  public: sdf::SemanticPose SemanticPose() const;
171 
176  public: sdf::ElementPtr Element() const;
177 
182  public: sdf::Material *Material() const;
183 
186  public: void SetMaterial(const sdf::Material &_material);
187 
190  public: uint32_t VisibilityFlags() const;
191 
194  public: void SetVisibilityFlags(uint32_t _flags);
195 
200  public: void SetHasLaserRetro(bool _laserRetro);
201 
204  public: bool HasLaserRetro() const;
205 
208  public: double LaserRetro() const;
209 
212  public: void SetLaserRetro(double _laserRetro);
213 
218  private: void SetXmlParentName(const std::string &_xmlParentName);
219 
224  private: void SetPoseRelativeToGraph(
225  std::weak_ptr<const PoseRelativeToGraph> _graph);
226 
230  friend class Link;
231 
233  private: VisualPrivate *dataPtr = nullptr;
234  };
235  }
236 }
237 #endif
sdf::v9::Geometry
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:79
Material.hh
Plane.hh
sdf::v9::Visual
Definition: Visual.hh:45
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:32
Cylinder.hh
sdf::v9::Material
This class contains visual material properties.
Definition: Material.hh:45
Box.hh
Types.hh
SemanticPose.hh
sdf::v9::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
Sphere.hh
sdf::v9::SDF_DEPRECATED
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
sdf::v9::SemanticPose
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:53
sdf::v9::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
system_util.hh
sdf::v9::Element
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
Element.hh