gz/sim/Light.hh

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/*
 * Copyright (C) 2023 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef GZ_GAZEBO_LIGHT_HH_
#define GZ_GAZEBO_LIGHT_HH_
 
#include <memory>
#include <optional>
#include <string>
#include <vector>
 
#include <gz/utils/ImplPtr.hh>
 
#include <gz/math/Angle.hh>
#include <gz/math/Color.hh>
#include <gz/math/Pose3.hh>
#include <gz/math/Vector3.hh>
 
#include "gz/sim/config.hh"
#include "gz/sim/EntityComponentManager.hh"
#include "gz/sim/Export.hh"
#include "gz/sim/Types.hh"
 
namespace ignition
{
  namespace gazebo
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
    //
    class IGNITION_GAZEBO_VISIBLE Light
    {
      public: explicit Light(gazebo::Entity _entity = kNullEntity);
 
      public: gazebo::Entity Entity() const;
 
      public: void ResetEntity(gazebo::Entity _newEntity);
 
      public: bool Valid(const EntityComponentManager &_ecm) const;
 
      public: std::optional<std::string> Name(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Pose3d> Pose(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<std::string> Type(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Color> DiffuseColor(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Color> SpecularColor(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<bool> CastShadows(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<double> Intensity(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Vector3d> Direction(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<double> AttenuationRange(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<double> AttenuationConstant(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<double> AttenuationLinear(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<double> AttenuationQuadratic(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Angle> SpotInnerAngle(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Angle> SpotOuterAngle(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<double> SpotFalloff(
          const EntityComponentManager &_ecm) const;
 
      public: void SetPose(EntityComponentManager &_ecm,
          const math::Pose3d &_pose);
 
      public: void SetDiffuseColor(EntityComponentManager &_ecm,
          const math::Color &_color);
 
      public: void SetSpecularColor(EntityComponentManager &_ecm,
          const math::Color &_color);
 
      public: void SetCastShadows(EntityComponentManager &_ecm,
          bool _castShadows);
 
      public: void SetIntensity(EntityComponentManager &_ecm,
          double _value);
 
      public: void SetDirection(EntityComponentManager &_ecm,
          const math::Vector3d &_dir);
 
      public: void SetAttenuationRange(EntityComponentManager &_ecm,
          double _range);
 
      public: void SetAttenuationConstant(EntityComponentManager &_ecm,
          double _value);
 
      public: void SetAttenuationLinear(EntityComponentManager &_ecm,
          double _value);
 
      public: void SetAttenuationQuadratic(EntityComponentManager &_ecm,
          double _value);
 
      public: void SetSpotInnerAngle(EntityComponentManager &_ecm,
          const math::Angle &_angle);
 
      public: void SetSpotOuterAngle(EntityComponentManager &_ecm,
          const math::Angle &_angle);
 
      public: void SetSpotFalloff(EntityComponentManager &_ecm,
          double _falloff);
 
      public: std::optional<gazebo::Entity> Parent(
          const EntityComponentManager &_ecm) const;
 
      IGN_UTILS_IMPL_PTR(dataPtr)
    };
    }
  }
}
#endif