17#ifndef GAZEBO_RENDERING_LIGHT_HH_
18#define GAZEBO_RENDERING_LIGHT_HH_
23#include <ignition/math/Color.hh>
24#include <ignition/math/Quaternion.hh>
25#include <ignition/math/Vector3.hh>
53 class GZ_RENDERING_VISIBLE
Light :
54 public boost::enable_shared_from_this<Light>
66 public:
void Load(sdf::ElementPtr _sdf);
81 public:
void SetName(
const std::string &_name);
85 public: std::string
Name()
const;
89 public: std::string
Type()
const;
97 public: ignition::math::Vector3d
Position()
const;
105 public: ignition::math::Quaterniond
Rotation()
const;
198 public:
void FillMsg(msgs::Light &_msg)
const;
212 public: uint32_t
Id()
const;
218 private:
void CreateVisual();
221 private:
void Update();
225 private:
void UpdateSDFFromMsg(
const msgs::Light &_msg);
229 private: std::unique_ptr<LightPrivate> dataPtr;
rendering
Definition RenderEngine.hh:31
A light source.
Definition rendering/Light.hh:55
void SetDirection(const ignition::math::Vector3d &_dir)
Set the direction.
void SetSpecularColor(const ignition::math::Color &_color)
Set the specular color.
ignition::math::Color DiffuseColor() const
Get the diffuse color.
void UpdateFromMsg(ConstLightPtr &_msg)
Update a light source from a message.
void SetName(const std::string &_name)
Set the name of the visual.
void SetSpotOuterAngle(const double _angle)
Set the spot light outer angle.
void ShowVisual(const bool _s)
Set whether to show the visual.
Light(ScenePtr _scene)
Constructor.
std::string Name() const
Get the name of the visual.
std::string LightType() const
Get the light type.
virtual ~Light()
Destructor.
ignition::math::Vector3d Position() const
Get the position of the light.
void SetRotation(const ignition::math::Quaterniond &_q)
Set the rotation of the light.
LightPtr Clone(const std::string &_name, ScenePtr _scene)
Clone the light with a new name.
virtual bool SetSelected(const bool _s)
Set whether this entity has been selected by the user through the gui.
void SetRange(const double _range)
Set the range.
void SetPosition(const ignition::math::Vector3d &_p)
Set the position of the light.
void SetLightType(const std::string &_type)
Set the light type.
void SetCastShadows(const bool _cast)
Set cast shadows.
void SetDiffuseColor(const ignition::math::Color &_color)
Set the diffuse color.
std::string Type() const
Get the type of the light.
bool CastShadows() const
Get cast shadows.
void LoadFromMsg(const msgs::Light &_msg)
Load from a light message.
void LoadFromMsg(ConstLightPtr &_msg)
Load from a light message.
void SetAttenuation(double _constant, double _linear, double _quadratic)
Set the attenuation.
void SetSpotInnerAngle(const double _angle)
Set the spot light inner angle.
ignition::math::Quaterniond Rotation() const
Get the rotation of the light.
ignition::math::Pose3d WorldPose() const
Get the world pose of the light.
ignition::math::Color SpecularColor() const
Get the specular color.
void SetVisible(const bool _s)
Set whether the light will be visible.
bool Visible() const
Get whether the light is visible.
void FillMsg(msgs::Light &_msg) const
Fill the contents of a light message.
void Load(sdf::ElementPtr _sdf)
Load the light using a set of SDF parameters.
uint32_t Id() const
Get the id associated with this light.
ignition::math::Vector3d Direction() const
Get the direction.
virtual void OnPoseChange()
On pose change callback.
Definition rendering/Light.hh:215
void Load()
Load the light using default parameters.
void SetSpotFalloff(const double _value)
Set the spot light falloff.
Definition JointMaker.hh:40
boost::shared_ptr< Light > LightPtr
Definition RenderTypes.hh:86
boost::shared_ptr< Scene > ScenePtr
Definition RenderTypes.hh:82
Forward declarations for the common classes.
Definition Animation.hh:27