Scene manager class for loading and managing objects in the scene. More...

#include <SceneManager.hh>

Public Member Functions
	SceneManager ()
	Constructor.

	~SceneManager ()
	Destructor.

AnimationUpdateData	ActorAnimationAt (Entity _id, std::chrono::steady_clock::duration _time) const
	Get the actor animation update data given an id. Use this function to let the render engine handle the actor animation. by setting the animation name to be played.

rendering::MeshPtr	ActorMeshById (Entity _id) const
	Get a rendering mesh given an id.

common::SkeletonPtr	ActorSkeletonById (Entity _id) const
	Get a skeleton given an id.

std::map< std::string, math::Matrix4d >	ActorSkeletonTransformsAt (Entity _id, std::chrono::steady_clock::duration _time) const
	Get the skeleton local transforms of actor mesh given an id. Use this function if you are animating the actor manually by its skeleton node pose.

bool	AddSensor (Entity _simId, const std::string &_sensorName, Entity _parentGazeboId=0)
	Gazebo Sensors is the one responsible for adding sensors to the scene. Here we just keep track of it and make sure it has the correct parent.

void	Clear ()
	Clear the scene manager Clears internal resources stored in the scene manager. Note: this does not actually destroy the objects.

std::pair< rendering::VisualPtr, std::vector< Entity > >	CopyVisual (Entity _id, const std::string &_visual, Entity _parentId=0)
	Copy a visual that currently exists in the scene.

rendering::VisualPtr	CreateActor (Entity _id, const sdf::Actor &_actor, const std::string &_name, Entity _parentId=0)
	Create an actor.

rendering::VisualPtr	CreateCollision (Entity _id, const sdf::Collision &_collision, Entity _parentId=0)
	Create a collision visual.

rendering::VisualPtr	CreateCOMVisual (Entity _id, const math::Inertiald &_inertial, Entity _parentId=0)
	Create a center of mass visual.

rendering::VisualPtr	CreateInertiaVisual (Entity _id, const math::Inertiald &_inertial, Entity _parentId=0)
	Create an inertia visual.

rendering::VisualPtr	CreateJointVisual (Entity _id, const sdf::Joint &_joint, Entity _childId=0, Entity _parentId=0)
	Create a joint visual.

rendering::LightPtr	CreateLight (Entity _id, const sdf::Light &_light, const std::string &_name, Entity _parentId)
	Create a light.

rendering::VisualPtr	CreateLightVisual (Entity _id, const sdf::Light &_light, const std::string &_name, Entity _parentId)
	Create a light.

rendering::VisualPtr	CreateLink (Entity _id, const sdf::Link &_link, Entity _parentId=0)
	Create a link.

rendering::VisualPtr	CreateModel (Entity _id, const sdf::Model &_model, Entity _parentId=0)
	Create a model.

rendering::ParticleEmitterPtr	CreateParticleEmitter (Entity _id, const msgs::ParticleEmitter &_emitter, Entity _parentId)
	Create a particle emitter.

rendering::ProjectorPtr	CreateProjector (Entity _id, const sdf::Projector &_projector, Entity _parentId)
	Create a projector.

rendering::VisualPtr	CreateVisual (Entity _id, const sdf::Visual &_visual, Entity _parentId=0)
	Create a visual.

std::vector< rendering::NodePtr >	Filter (const std::string &_node, std::function< bool(const rendering::NodePtr _nodeToFilter)> _filter) const
	Filter a node and its children according to specific criteria.

bool	HasEntity (Entity _id) const
	Check if entity exists.

std::unordered_map< std::string, unsigned int >	LoadAnimations (const sdf::Actor &_actor)
	Load Actor animations.

rendering::NodePtr	NodeById (Entity _id) const
	Get a rendering node given an entity id.

void	RemoveEntity (Entity _id)
	Remove an entity by id.

rendering::ScenePtr	Scene () const
	Get the scene.

void	SequenceTrajectories (std::vector< common::TrajectoryInfo > &_trajectories, std::chrono::steady_clock::time_point _time)
	Sequences Trajectories.

void	SetScene (rendering::ScenePtr _scene)
	Set the scene to manage.

void	SetSphericalCoordinates (const math::SphericalCoordinates &_sphericalCoordinates)
	Set the spherical coordinates from world.

void	SetWorldId (Entity _id)
	Set the world's ID.

rendering::NodePtr	TopLevelNode (const rendering::NodePtr &_node) const
	Get the top level node for the given node, which is the ancestor which is a direct child to the root visual. Usually, this will be a model or a light.

rendering::VisualPtr	TopLevelVisual (const rendering::VisualPtr &_visual) const
	Get the top level visual for the given visual, which is the ancestor which is a direct child to the root visual. Usually, this will be a model or a light.

Entity	UniqueId () const
	Create a unique entity ID.

void	UpdateJointParentPose (Entity _jointId)
	Updates the world pose of joint parent visual according to its child.

rendering::ParticleEmitterPtr	UpdateParticleEmitter (Entity _id, const msgs::ParticleEmitter &_emitter)
	Update an existing particle emitter.

void	UpdateTransparency (const rendering::NodePtr &_node, bool _makeTransparent)
	Updates the node to increase its transparency or reset back to its original transparency value, an opaque call requires a previous transparent call, otherwise, no action will be taken Usually, this will be a link visual.

rendering::VisualPtr	VisualById (Entity _id)
	Retrieve visual.

Entity	WorldId () const
	Get the world's ID.

Detailed Description

Scene manager class for loading and managing objects in the scene.

Constructor & Destructor Documentation

◆ SceneManager()

SceneManager ( )

Constructor.

◆ ~SceneManager()

~SceneManager ( )

Destructor.

Member Function Documentation

◆ ActorAnimationAt()

AnimationUpdateData ActorAnimationAt	(	Entity	_id,
		std::chrono::steady_clock::duration	_time
	)		const

Get the actor animation update data given an id. Use this function to let the render engine handle the actor animation. by setting the animation name to be played.

Parameters

[in]	_id	Entity's unique id
[in]	_time	Simulation time

Returns: Data needed to update the animation, including the name and time of animation to play, and trajectory animation info.

◆ ActorMeshById()

rendering::MeshPtr ActorMeshById ( Entity _id ) const

Get a rendering mesh given an id.

Parameters

[in] _id Actor entity's unique id

Returns: Pointer to requested entity's mesh

◆ ActorSkeletonById()

common::SkeletonPtr ActorSkeletonById ( Entity _id ) const

Get a skeleton given an id.

Parameters

[in] _id Actor entity's unique id

Returns: Pointer to requested entity's skeleton

◆ ActorSkeletonTransformsAt()

std::map< std::string, math::Matrix4d > ActorSkeletonTransformsAt	(	Entity	_id,
		std::chrono::steady_clock::duration	_time
	)		const

Get the skeleton local transforms of actor mesh given an id. Use this function if you are animating the actor manually by its skeleton node pose.

Parameters

[in]	_id	Entity's unique id
[in]	_time	SimulationTime

Returns: Map from the skeleton node name to transforms

◆ AddSensor()

bool AddSensor	(	Entity	_simId,
		const std::string &	_sensorName,
		Entity	_parentGazeboId = `0`
	)

Gazebo Sensors is the one responsible for adding sensors to the scene. Here we just keep track of it and make sure it has the correct parent.

Parameters

[in]	_simId	Entity in Sim
[in]	_sensorName	Name of sensor node in Gazebo Rendering.
[in]	_parentGazeboId	Parent Id on Gazebo.

Returns: True if sensor is successfully handled

◆ Clear()

void Clear ( )

Clear the scene manager Clears internal resources stored in the scene manager. Note: this does not actually destroy the objects.

◆ CopyVisual()

std::pair< rendering::VisualPtr, std::vector< Entity > > CopyVisual	(	Entity	_id,
		const std::string &	_visual,
		Entity	_parentId = `0`
	)

Copy a visual that currently exists in the scene.

Parameters

[in]	_id	Unique visual id of the copied visual
[in]	_visual	Name of the visual to copy
[in]	_parentId	Parent id of the copied visual

Returns: A pair with the first element being the copied visual object, and the second element being a list of the entity IDs for the copied visual's children, in level order. If copying the visual failed, the first element will be nullptr. If the copied visual has no children, the second element will be empty.

◆ CreateActor()

rendering::VisualPtr CreateActor	(	Entity	_id,
		const sdf::Actor &	_actor,
		const std::string &	_name,
		Entity	_parentId = `0`
	)

Create an actor.

Parameters

[in]	_id	Unique actor id
[in]	_actor	Actor sdf dom
[in]	_name	Actor's name
[in]	_parentId	Parent id

Returns: Actor object created from the sdf dom

◆ CreateCollision()

rendering::VisualPtr CreateCollision	(	Entity	_id,
		const sdf::Collision &	_collision,
		Entity	_parentId = `0`
	)

Create a collision visual.

Parameters

[in]	_id	Unique visual id
[in]	_collision	Collision sdf dom
[in]	_parentId	Parent id

Returns: Visual (collision) object created from the sdf dom

◆ CreateCOMVisual()

rendering::VisualPtr CreateCOMVisual	(	Entity	_id,
		const math::Inertiald &	_inertial,
		Entity	_parentId = `0`
	)

Create a center of mass visual.

Parameters

[in]	_id	Unique visual id
[in]	_inertial	Inertial component of the link
[in]	_parentId	Parent id

Returns: Visual (center of mass) object created from the inertial

◆ CreateInertiaVisual()

rendering::VisualPtr CreateInertiaVisual	(	Entity	_id,
		const math::Inertiald &	_inertial,
		Entity	_parentId = `0`
	)

Create an inertia visual.

Parameters

[in]	_id	Unique visual id
[in]	_inertial	Inertial component of the link
[in]	_parentId	Parent id

Returns: Visual (inertia) object created from the inertial

◆ CreateJointVisual()

rendering::VisualPtr CreateJointVisual	(	Entity	_id,
		const sdf::Joint &	_joint,
		Entity	_childId = `0`,
		Entity	_parentId = `0`
	)

Create a joint visual.

Parameters

[in]	_id	Unique visual id
[in]	_joint	Joint sdf dom
[in]	_childId	Joint child id
[in]	_parentId	Joint parent id

Returns: Visual (joint) object created from the sdf dom

◆ CreateLight()

rendering::LightPtr CreateLight	(	Entity	_id,
		const sdf::Light &	_light,
		const std::string &	_name,
		Entity	_parentId
	)

Create a light.

Parameters

[in]	_id	Unique light id
[in]	_light	Light sdf dom
[in]	_name	Light's name
[in]	_parentId	Parent id

Returns: Light object created from the sdf dom

◆ CreateLightVisual()

rendering::VisualPtr CreateLightVisual	(	Entity	_id,
		const sdf::Light &	_light,
		const std::string &	_name,
		Entity	_parentId
	)

Create a light.

Parameters

[in]	_id	Unique light id
[in]	_light	Light sdf dom
[in]	_name	Light's name
[in]	_parentId	Parent id

Returns: Light object created from the sdf dom

◆ CreateLink()

rendering::VisualPtr CreateLink	(	Entity	_id,
		const sdf::Link &	_link,
		Entity	_parentId = `0`
	)

Create a link.

Parameters

[in]	_id	Unique link id
[in]	_link	Link sdf dom
[in]	_parentId	Parent id

Returns: Link visual created from the sdf dom

◆ CreateModel()

rendering::VisualPtr CreateModel	(	Entity	_id,
		const sdf::Model &	_model,
		Entity	_parentId = `0`
	)

Create a model.

Parameters

[in]	_id	Unique model id
[in]	_model	Model sdf dom
[in]	_parentId	Parent id

Returns: Model visual created from the sdf dom

◆ CreateParticleEmitter()

rendering::ParticleEmitterPtr CreateParticleEmitter	(	Entity	_id,
		const msgs::ParticleEmitter &	_emitter,
		Entity	_parentId
	)

Create a particle emitter.

Parameters

[in]	_id	Unique particle emitter id
[in]	_emitter	Particle emitter data
[in]	_parentId	Parent id

Returns: Default particle emitter object created

◆ CreateProjector()

rendering::ProjectorPtr CreateProjector	(	Entity	_id,
		const sdf::Projector &	_projector,
		Entity	_parentId
	)

Create a projector.

Parameters

[in]	_id	Unique projector id
[in]	_projector	Projector sdf dom
[in]	_parentId	Parent id

Returns: Projector object created from the sdf dom

◆ CreateVisual()

rendering::VisualPtr CreateVisual	(	Entity	_id,
		const sdf::Visual &	_visual,
		Entity	_parentId = `0`
	)

Create a visual.

Parameters

[in]	_id	Unique visual id
[in]	_visual	Visual sdf dom
[in]	_parentId	Parent id

Returns: Visual object created from the sdf dom

◆ Filter()

std::vector< rendering::NodePtr > Filter	(	const std::string &	_node,
		std::function< bool(const rendering::NodePtr _nodeToFilter)>	_filter
	)		const

Filter a node and its children according to specific criteria.

Parameters

[in]	_node	The name of the node where filtering should start.
[in]	_filter	Callback function that defines how _node and its children should be filtered. The function parameter is a node. The callback returns true if the node should be filtered; false otherwise.

Returns: A list of filtered nodes in top level order. This list can contain _node itself, or child nodes of _node. An empty list means no nodes were filtered.

◆ HasEntity()

bool HasEntity ( Entity _id ) const

Check if entity exists.

Parameters

[in] _id Unique entity id

Returns: true if exists, false otherwise

◆ LoadAnimations()

std::unordered_map< std::string, unsigned int > LoadAnimations ( const sdf::Actor & _actor )

Load Actor animations.

Parameters

[in] _actor Actor

Returns: Animation name to ID map

◆ NodeById()

rendering::NodePtr NodeById ( Entity _id ) const

Get a rendering node given an entity id.

Parameters

[in] _id Entity's unique id

Returns: Pointer to requested entity's node

◆ RemoveEntity()

void RemoveEntity ( Entity _id )

Remove an entity by id.

Parameters

[in] _id Entity's unique id

◆ Scene()

rendering::ScenePtr Scene ( ) const

Get the scene.

Returns: Pointer to scene

◆ SequenceTrajectories()

void SequenceTrajectories	(	std::vector< common::TrajectoryInfo > &	_trajectories,
		std::chrono::steady_clock::time_point	_time
	)

Sequences Trajectories.

Parameters

[in]	_trajectories	Actor trajectories
[in]	_time	Actor trajectory delay start time (miliseconds)

◆ SetScene()

void SetScene ( rendering::ScenePtr _scene )

Set the scene to manage.

Parameters

[in] _scene Scene pointer.

◆ SetSphericalCoordinates()

void SetSphericalCoordinates ( const math::SphericalCoordinates & _sphericalCoordinates )

Set the spherical coordinates from world.

Parameters

[in] _sphericalCoordinates SphericalCoordinates from the world.

◆ SetWorldId()

void SetWorldId ( Entity _id )

Set the world's ID.

Parameters

[in] _id World ID.

◆ TopLevelNode()

rendering::NodePtr TopLevelNode ( const rendering::NodePtr & _node ) const

Get the top level node for the given node, which is the ancestor which is a direct child to the root visual. Usually, this will be a model or a light.

Parameters

[in] _node Child node

Returns: Top level node containing this node

◆ TopLevelVisual()

rendering::VisualPtr TopLevelVisual ( const rendering::VisualPtr & _visual ) const

Get the top level visual for the given visual, which is the ancestor which is a direct child to the root visual. Usually, this will be a model or a light.

Parameters

[in] _visual Child visual

Returns: Top level visual containing this visual

◆ UniqueId()

Entity UniqueId ( ) const

Create a unique entity ID.

Returns: A unique entity ID. kNullEntity is returned if no unique entity IDs are available

◆ UpdateJointParentPose()

void UpdateJointParentPose ( Entity _jointId )

Updates the world pose of joint parent visual according to its child.

Parameters

[in] _jointId Joint visual id.

◆ UpdateParticleEmitter()

rendering::ParticleEmitterPtr UpdateParticleEmitter	(	Entity	_id,
		const msgs::ParticleEmitter &	_emitter
	)

Update an existing particle emitter.

_id Emitter id to update

_emitter Data to update the particle emitter

Returns: Particle emitter updated

◆ UpdateTransparency()

void UpdateTransparency	(	const rendering::NodePtr &	_node,
		bool	_makeTransparent
	)

Updates the node to increase its transparency or reset back to its original transparency value, an opaque call requires a previous transparent call, otherwise, no action will be taken Usually, this will be a link visual.

Parameters

[in]	_node	The node to update.
[in]	_makeTransparent	true if updating to increase transparency, false to set back to original transparency values (make more opaque)

◆ VisualById()

rendering::VisualPtr VisualById ( Entity _id )

Retrieve visual.

Parameters

[in] _id Unique visual (entity) id

Returns: Pointer to requested visual

◆ WorldId()

Entity WorldId ( ) const

Get the world's ID.

Returns: World ID

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

SceneManager.hh

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ SceneManager()

◆ ~SceneManager()

Member Function Documentation

◆ ActorAnimationAt()

◆ ActorMeshById()

◆ ActorSkeletonById()

◆ ActorSkeletonTransformsAt()

◆ AddSensor()

◆ Clear()

◆ CopyVisual()

◆ CreateActor()

◆ CreateCollision()

◆ CreateCOMVisual()

◆ CreateInertiaVisual()

◆ CreateJointVisual()

◆ CreateLight()

◆ CreateLightVisual()

◆ CreateLink()

◆ CreateModel()

◆ CreateParticleEmitter()

◆ CreateProjector()

◆ CreateVisual()

◆ Filter()

◆ HasEntity()

◆ LoadAnimations()

◆ NodeById()

◆ RemoveEntity()

◆ Scene()

◆ SequenceTrajectories()

◆ SetScene()

◆ SetSphericalCoordinates()

◆ SetWorldId()

◆ TopLevelNode()

◆ TopLevelVisual()

◆ UniqueId()

◆ UpdateJointParentPose()

◆ UpdateParticleEmitter()

◆ UpdateTransparency()

◆ VisualById()

◆ WorldId()