22 #include <ignition/math/Pose3.hh>
23 #include <ignition/math/Angle.hh>
28 #include "sdf/sdf_config.h"
34 inline namespace SDF_VERSION_NAMESPACE {
39 struct PoseRelativeToGraph;
106 public: std::string
Name()
const;
110 public:
void SetName(
const std::string &_name)
const;
118 public:
const ignition::math::Pose3d &
Pose() const
125 public:
void SetPose(const ignition::math::Pose3d &_pose)
133 public: const ignition::math::Pose3d &RawPose() const;
138 public:
void SetRawPose(const ignition::math::Pose3d &_pose);
144 public: const std::
string &PoseRelativeTo() const;
150 public:
void SetPoseRelativeTo(const std::
string &_frame);
157 public: const std::
string &PoseFrame() const
165 public:
void SetPoseFrame(const std::
string &_frame)
175 public:
bool CastShadows() const;
179 public:
void SetCastShadows(const
bool _cast);
185 public: ignition::math::
Color Diffuse() const;
191 public:
void SetDiffuse(const ignition::math::
Color &_color) const;
197 public: ignition::math::
Color Specular() const;
203 public:
void SetSpecular(const ignition::math::
Color &_color) const;
207 public:
double AttenuationRange() const;
211 public:
void SetAttenuationRange(const
double _range);
217 public:
double LinearAttenuationFactor() const;
223 public:
void SetLinearAttenuationFactor(const
double _factor);
229 public:
double ConstantAttenuationFactor() const;
235 public:
void SetConstantAttenuationFactor(const
double _factor);
240 public:
double QuadraticAttenuationFactor() const;
245 public:
void SetQuadraticAttenuationFactor(const
double _factor);
251 public: ignition::math::Vector3d Direction() const;
256 public:
void SetDirection(const ignition::math::Vector3d &_dir);
261 public: ignition::math::Angle SpotInnerAngle() const;
266 public:
void SetSpotInnerAngle(const ignition::math::Angle &_angle);
271 public: ignition::math::Angle SpotOuterAngle() const;
276 public:
void SetSpotOuterAngle(const ignition::math::Angle &_angle);
283 public:
double SpotFalloff() const;
290 public:
void SetSpotFalloff(const
double _falloff);
300 private:
void CopyFrom(const
Light &_light);
306 private:
void SetXmlParentName(const std::
string &_xmlParentName);
312 private:
void SetPoseRelativeToGraph(
313 std::weak_ptr<const PoseRelativeToGraph> _graph);
323 private: LightPrivate *dataPtr =
nullptr;
Defines a color.
Definition: Types.hh:93
SDF Element class.
Definition: Element.hh:74
Provides a description of a light source.
Definition: Light.hh:63
Light(const Light &_light)
Copy constructor.
const ignition::math::Pose3d & Pose() const SDF_DEPRECATED(9.0)
Get the pose of the light.
std::string Name() const
Get the name of the light.
Light()
Default constructor.
Errors Load(ElementPtr _sdf)
Load the light based on a element pointer.
Light & operator=(Light &&_light)
Move assignment operator.
void SetType(const LightType _type)
Set the light type.
Light(Light &&_light) noexcept
Move constructor.
Light & operator=(const Light &_light)
Assignment operator.
LightType Type() const
Get the light type.
void SetName(const std::string &_name) const
Set the name of the light.
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:54
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
LightType
The set of light types.
Definition: Light.hh:45
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
namespace for Simulation Description Format parser
Definition: Actor.hh:33
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:48