17 #ifndef SDF_VISUAL_HH_
18 #define SDF_VISUAL_HH_
22 #include <ignition/math/Pose3.hh>
23 #include <ignition/utils/ImplPtr.hh>
32 #include "sdf/sdf_config.h"
38 inline namespace SDF_VERSION_NAMESPACE {
43 struct PoseRelativeToGraph;
44 template <
typename T>
class ScopedGraph;
62 public: std::string
Name()
const;
67 public:
void SetName(
const std::string &_name);
97 public:
const ignition::math::Pose3d &
RawPose()
const;
102 public:
void SetRawPose(
const ignition::math::Pose3d &_pose);
167 private:
void SetXmlParentName(
const std::string &_xmlParentName);
173 private:
void SetPoseRelativeToGraph(
182 IGN_UTILS_IMPL_PTR(dataPtr)
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:78
This class contains visual material properties.
Definition: Material.hh:46
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
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
uint32_t VisibilityFlags() const
Get the visibility flags of a visual.
float Transparency() const
Get the transparency value of the visual.
void SetName(const std::string &_name)
Set the name of the visual.
const sdf::Material * Material() const
Get a pointer to the visual's material properties.
Errors Load(ElementPtr _sdf)
Load the visual based on a element pointer.
void SetPoseRelativeTo(const std::string &_frame)
Set the name of the coordinate frame relative to which this object's pose is expressed.
std::string Name() const
Get the name of the visual.
const std::string & PoseRelativeTo() const
Get the name of the coordinate frame relative to which this object's pose is expressed.
bool HasLaserRetro() const
Get whether the lidar reflective intensity was set was set.
void SetMaterial(const sdf::Material &_material)
Set the visual's material.
void SetTransparency(float _transparency)
Set the transparency value for the visual.
void SetGeom(const Geometry &_geom)
Set the visual's geometry.
void SetHasLaserRetro(bool _laserRetro)
Set whether the lidar reflective intensity has been specified.
const ignition::math::Pose3d & RawPose() const
Get the pose of the visual object.
double LaserRetro() const
Get the flidar reflective intensity.
sdf::SemanticPose SemanticPose() const
Get SemanticPose object of this object to aid in resolving poses.
void SetVisibilityFlags(uint32_t _flags)
Set the visibility flags of a visual.
void SetLaserRetro(double _laserRetro)
Set the lidar reflective intensity.
bool CastShadows() const
Get whether the visual casts shadows.
void SetRawPose(const ignition::math::Pose3d &_pose)
Set the pose of the visual object.
Visual()
Default constructor.
void SetCastShadows(bool _castShadows)
Set whether the visual casts shadows.
const Geometry * Geom() const
Get a pointer to the visual's geometry.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
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