22 #include <ignition/math/Pose3.hh>
23 #include <ignition/math/Angle.hh>
24 #include <ignition/utils/ImplPtr.hh>
29 #include "sdf/sdf_config.h"
35 inline namespace SDF_VERSION_NAMESPACE {
39 struct PoseRelativeToGraph;
40 template <
typename T>
class ScopedGraph;
86 public: std::string
Name()
const;
90 public:
void SetName(
const std::string &_name);
97 public:
const ignition::math::Pose3d &
RawPose()
const;
102 public:
void SetRawPose(
const ignition::math::Pose3d &_pose);
141 public: ignition::math::Color
Diffuse()
const;
147 public:
void SetDiffuse(
const ignition::math::Color &_color);
256 private:
void CopyFrom(
const Light &_light);
262 private:
void SetXmlParentName(
const std::string &_xmlParentName);
268 private:
void SetPoseRelativeToGraph(
284 IGN_UTILS_IMPL_PTR(dataPtr)
Provides a description of a light source.
Definition: Light.hh:64
void SetName(const std::string &_name)
Set the name of the light.
void SetSpotOuterAngle(const ignition::math::Angle &_angle)
Set the angle covered by the outer cone.
void SetPoseRelativeTo(const std::string &_frame)
Set the name of the coordinate frame relative to which this object's pose is expressed.
void SetSpecular(const ignition::math::Color &_color)
Set the specular color.
double LinearAttenuationFactor() const
Get the linear attenuation factor.
ignition::math::Angle SpotInnerAngle() const
Get the angle covered by the bright inner cone.
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this light object.
LightType Type() const
Get the light type.
ignition::math::Color Diffuse() const
Get the diffuse color.
void SetSpotFalloff(const double _falloff)
Set the rate of falloff between the inner and outer cones.
void SetDirection(const ignition::math::Vector3d &_dir)
Set the direction of the light source.
sdf::SemanticPose SemanticPose() const
Get SemanticPose object of this object to aid in resolving poses.
void SetIntensity(const double _intensity)
Set the light intensity.
void SetLinearAttenuationFactor(const double _factor)
Set the linear attenuation factor.
ignition::math::Angle SpotOuterAngle() const
Get the angle covered by the outer cone.
double SpotFalloff() const
Get the rate of falloff between the inner and outer cones.
void SetAttenuationRange(const double _range)
Set the range of the light source in meters.
void SetCastShadows(const bool _cast)
Set whether the light casts shadows.
ignition::math::Vector3d Direction() const
Get the direction of the light source.
void SetConstantAttenuationFactor(const double _factor)
Set the constant attenuation factor.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
const std::string & PoseRelativeTo() const
Get the name of the coordinate frame relative to which this object's pose is expressed.
void SetType(const LightType _type)
Set the light type.
void SetDiffuse(const ignition::math::Color &_color)
Set the diffuse color.
void SetRawPose(const ignition::math::Pose3d &_pose)
Set 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.
double Intensity() const
Get the light intensity.
bool CastShadows() const
Get whether the light casts shadows.
void SetSpotInnerAngle(const ignition::math::Angle &_angle)
Set the angle covered by the bright inner cone.
double ConstantAttenuationFactor() const
Get the constant attenuation factor.
double QuadraticAttenuationFactor() const
Get the quadratic attenuation factor which adds a curvature to the attenuation.
const ignition::math::Pose3d & RawPose() const
Get the pose of the light.
double AttenuationRange() const
Get the range of the light source in meters.
void SetQuadraticAttenuationFactor(const double _factor)
Set the quadratic attenuation factor which adds a curvature to the attenuation.
ignition::math::Color Specular() const
Get the specular color.
Definition: Collision.hh:39
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:55
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
LightType
The set of light types.
Definition: Light.hh:46
namespace for Simulation Description Format parser
Definition: Actor.hh:34
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:41