#include <World.hh>

Public Member Functions
	World ()
	Default constructor. More...

	World (const World &_world)
	Copy constructor. More...

	World (World &&_world) noexcept
	Move constructor. More...

	~World ()
	Destructor. More...

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

uint64_t	ActorCount () const
	Get the number of actors. More...

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

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

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

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

const Frame *	FrameByIndex (const uint64_t _index) const
	Get an explicit frame based on an index. More...

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

uint64_t	FrameCount () const
	Get the number of explicit frames. More...

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

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

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

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

uint64_t	LightCount () const
	Get the number of lights. More...

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

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

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

const Model *	ModelByIndex (const uint64_t _index) const
	Get a model based on an index. More...

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

uint64_t	ModelCount () const
	Get the number of models. More...

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

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

World &	operator= (const World &_world)
	Copy assignment operator. More...

World &	operator= (World &&_world)
	Move assignment operator. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Constructor & Destructor Documentation

◆ World() [1/3]

sdf::v9::World::World ( )

Default constructor.

◆ World() [2/3]

sdf::v9::World::World ( const World & _world )

Copy constructor.

Parameters

[in] _world World to copy.

◆ World() [3/3]

sdf::v9::World::World ( World && _world )

noexcept

Move constructor.

Parameters

[in] _world World to move.

◆ ~World()

sdf::v9::World::~World ( )

Destructor.

Member Function Documentation

◆ ActorByIndex()

const Actor* sdf::v9::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

◆ ActorCount()

uint64_t sdf::v9::World::ActorCount ( ) const

Get the number of actors.

Returns: Number of actors contained in this World object.

◆ ActorNameExists()

bool sdf::v9::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.

◆ Atmosphere()

const sdf::Atmosphere* sdf::v9::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::v9::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.

◆ Element()

sdf::ElementPtr sdf::v9::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()

const Frame* sdf::v9::World::FrameByIndex ( const uint64_t _index ) const

Get an 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()

const Frame* sdf::v9::World::FrameByName ( const std::string & _name ) const

Get an explicit frame based on a name.

Parameters

[in] _name Name of the explicit frame.

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

◆ FrameCount()

uint64_t sdf::v9::World::FrameCount ( ) const

Get the number of explicit frames.

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

◆ FrameNameExists()

bool sdf::v9::World::FrameNameExists ( const std::string & _name ) const

Get whether an explicit frame name exists.

Parameters

[in] _name Name of the explicit frame to check.

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

◆ Gravity()

gz::math::Vector3d sdf::v9::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()

sdf::Gui* sdf::v9::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.

◆ LightByIndex()

const Light* sdf::v9::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

◆ LightCount()

uint64_t sdf::v9::World::LightCount ( ) const

Get the number of lights.

Returns: Number of lights contained in this World object.

◆ LightNameExists()

bool sdf::v9::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()

Errors sdf::v9::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.

◆ MagneticField()

gz::math::Vector3d sdf::v9::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()

const Model* sdf::v9::World::ModelByIndex ( const uint64_t _index ) const

Get a 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()

const Model* sdf::v9::World::ModelByName ( const std::string & _name ) const

Get a model based on a name.

Parameters

[in] _name Name of the model.

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

◆ ModelCount()

uint64_t sdf::v9::World::ModelCount ( ) const

Get the number of models.

Returns: Number of models contained in this World object.

◆ ModelNameExists()

bool sdf::v9::World::ModelNameExists ( const std::string & _name ) const

Get whether a model name exists.

Parameters

[in] _name Name of the model to check.

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

◆ Name()

std::string sdf::v9::World::Name ( ) const

Get the name of the world.

Returns: Name of the world.

◆ operator=() [1/2]

World& sdf::v9::World::operator= ( const World & _world )

Copy assignment operator.

Parameters

[in] _world World to copy.

Returns: Reference to this.

◆ operator=() [2/2]

World& sdf::v9::World::operator= ( World && _world )

Move assignment operator.

Parameters

[in] _world World to move.

Returns: Reference to this.

◆ PhysicsByIndex()

const Physics* sdf::v9::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.

◆ PhysicsCount()

uint64_t sdf::v9::World::PhysicsCount ( ) const

Get the number of physics profiles.

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

◆ PhysicsDefault()

const Physics* sdf::v9::World::PhysicsDefault ( ) const

Get the default physics profile.

Returns: Pointer to the default physics profile.

◆ PhysicsNameExists()

bool sdf::v9::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.

◆ Scene()

const sdf::Scene* sdf::v9::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::v9::World::SetAtmosphere ( const sdf::Atmosphere & _atmosphere ) const

Set the atmosphere model associated with this world.

Parameters

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

◆ SetAudioDevice()

void sdf::v9::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::v9::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::v9::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::v9::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::v9::World::SetName ( const std::string & _name ) const

Set the name of the world.

Parameters

[in] _name Name of the world.

◆ SetScene()

void sdf::v9::World::SetScene ( const sdf::Scene & _scene )

Set the Scene parameters associated with this world.

Parameters

[in] _gui The new Scene parameter for this world

◆ SetWindLinearVelocity()

void sdf::v9::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

◆ ValidateGraphs()

Errors sdf::v9::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::v9::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() [1/3]

◆ World() [2/3]

◆ World() [3/3]

◆ ~World()

Member Function Documentation

◆ ActorByIndex()

◆ ActorCount()

◆ ActorNameExists()

◆ Atmosphere()

◆ AudioDevice()

◆ Element()

◆ FrameByIndex()

◆ FrameByName()

◆ FrameCount()

◆ FrameNameExists()

◆ Gravity()

◆ Gui()

◆ LightByIndex()

◆ LightCount()

◆ LightNameExists()

◆ Load()

◆ MagneticField()

◆ ModelByIndex()

◆ ModelByName()

◆ ModelCount()

◆ ModelNameExists()

◆ Name()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ PhysicsByIndex()

◆ PhysicsCount()

◆ PhysicsDefault()

◆ PhysicsNameExists()

◆ Scene()

◆ SetAtmosphere()

◆ SetAudioDevice()

◆ SetGravity()

◆ SetGui()

◆ SetMagneticField()

◆ SetName()

◆ SetScene()

◆ SetWindLinearVelocity()

◆ ValidateGraphs()

◆ WindLinearVelocity()