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17 #ifndef SDF_VISUAL_HH_
18 #define SDF_VISUAL_HH_
22 #include <ignition/math/Pose3.hh>
31 #include "sdf/sdf_config.h"
37 inline namespace SDF_VERSION_NAMESPACE {
43 struct PoseRelativeToGraph;
82 public: std::string
Name()
const;
87 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)
132 public: const ignition::math::Pose3d &RawPose() const;
137 public:
void SetRawPose(const ignition::math::Pose3d &_pose);
143 public: const std::
string &PoseRelativeTo() const;
149 public:
void SetPoseRelativeTo(const std::
string &_frame);
156 public: const std::
string &PoseFrame() const
164 public:
void SetPoseFrame(const std::
string &_frame)
190 public: uint32_t VisibilityFlags() const;
194 public:
void SetVisibilityFlags(uint32_t _flags);
200 private:
void SetXmlParentName(const std::
string &_xmlParentName);
206 private:
void SetPoseRelativeToGraph(
207 std::weak_ptr<const PoseRelativeToGraph> _graph);
215 private: VisualPrivate *dataPtr =
nullptr;
void SetTransparency(float _transparency)
Set the transparency value for the visual.
Errors Load(ElementPtr _sdf)
Load the visual based on a element pointer.
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:66
const Geometry * Geom() const
Get a pointer to the visual's geometry.
float Transparency() const
Get the transparency value of the visual.
Visual()
Default constructor.
void SetGeom(const Geometry &_geom)
Set the visual's geometry.
const ignition::math::Pose3d & Pose() const SDF_DEPRECATED(9.0)
Get the pose of the visual object.
namespace for Simulation Description Format parser
Definition: Actor.hh:33
This class contains visual material properties.
Definition: Material.hh:46
bool CastShadows() const
Get whether the visual casts shadows.
Visual(Visual &&_visual) noexcept
Move constructor.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:48
void SetName(const std::string &_name) const
Set the name of the visual.
class SDFORMAT_VISIBLE SDF_DEPRECATED(9.2) URDF2SDF
URDF to SDF converter.
Definition: parser_urdf.hh:40
Visual(const Visual &_visual)
Copy constructor.
std::string Name() const
Get the name of the visual.
SDF Element class.
Definition: Element.hh:70
SemanticPose is a data structure that can be used by different DOM objects to resolve poses on a Pose...
Definition: SemanticPose.hh:54
Visual & operator=(Visual &&_visual)
Move assignment operator.
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
void SetCastShadows(bool _castShadows)
Set whether the visual casts shadows.
Visual & operator=(const Visual &_visual)
Copy assignment operator.