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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>
54 class GZ_RENDERING_VISIBLE
Light :
55 public boost::enable_shared_from_this<Light>
62 public:
virtual ~
Light();
67 public:
void Load(sdf::ElementPtr _sdf);
74 public:
void LoadFromMsg(ConstLightPtr &_msg);
78 public:
void LoadFromMsg(
const msgs::Light &_msg);
82 public:
void SetName(
const std::string &_name);
86 public: std::string Name()
const;
90 public: std::string Type()
const;
94 public:
void SetPosition(
const ignition::math::Vector3d &_p);
98 public: ignition::math::Vector3d Position()
const;
102 public:
void SetRotation(
const ignition::math::Quaterniond &_q);
106 public: ignition::math::Quaterniond Rotation()
const;
111 public:
virtual bool SetSelected(
const bool _s);
114 public:
void ToggleShowVisual();
118 public:
void ShowVisual(
const bool _s);
123 public:
void SetVisible(
const bool _s);
127 public:
bool Visible()
const;
131 public:
void SetLightType(
const std::string &_type);
135 public: std::string LightType()
const;
145 public:
void SetDiffuseColor(
const ignition::math::Color &_color);
149 public: ignition::math::Color DiffuseColor()
const;
159 public:
void SetSpecularColor(
const ignition::math::Color &_color);
163 public: ignition::math::Color SpecularColor()
const;
168 public:
void SetDirection(
const ignition::math::Vector3d &_dir);
172 public: ignition::math::Vector3d Direction()
const;
178 public:
void SetAttenuation(
double _constant,
double _linear,
183 public:
void SetSpotInnerAngle(
const double _angle);
187 public:
void SetSpotOuterAngle(
const double _angle);
191 public:
void SetSpotFalloff(
const double _value);
195 public:
void SetRange(
const double _range);
199 public:
void SetCastShadows(
const bool _cast);
203 public:
bool CastShadows()
const;
207 public:
void FillMsg(msgs::Light &_msg)
const;
211 public:
void UpdateFromMsg(ConstLightPtr &_msg);
221 public: uint32_t Id()
const;
227 private:
void CreateVisual();
230 private:
void Update();
234 private:
void UpdateSDFFromMsg(
const msgs::Light &_msg);
238 private: std::unique_ptr<LightPrivate> dataPtr;
void FillMsg(msgs::Light &_msg) const
Fill the contents of a light message.
std::string Name() const
Get the name of the visual.
void LoadFromMsg(ConstLightPtr &_msg)
Load from a light message.
void SetDirection(const ignition::math::Vector3d &_dir)
Set the direction.
void SetCastShadows(const bool _cast)
Set cast shadows.
virtual ~Light()
Destructor.
Definition: JointMaker.hh:39
uint32_t Id() const
Get the id associated with this light.
bool CastShadows() const
Get cast shadows.
Forward declarations for the common classes.
Definition: Animation.hh:26
bool Visible() const
Get whether the light is visible.
std::string Type() const
Get the type of the light.
ignition::math::Vector3d Position() const
Get the position of the light.
std::string LightType() const
Get the light type.
virtual void OnPoseChange()
On pose change callback.
Definition: rendering/Light.hh:224
void SetPosition(const ignition::math::Vector3d &_p)
Set the position of the light.
void SetRange(const double _range)
Set the range.
void SetVisible(const bool _s)
Set whether the light will be visible.
void SetSpotInnerAngle(const double _angle)
Set the spot light inner angle.
void SetRotation(const ignition::math::Quaterniond &_q)
Set the rotation of the light.
void SetName(const std::string &_name)
Set the name of the visual.
ignition::math::Quaterniond Rotation() const
Get the rotation of the light.
void SetAttenuation(double _constant, double _linear, double _quadratic)
Set the attenuation.
virtual bool SetSelected(const bool _s)
Set whether this entity has been selected by the user through the gui.
LightPtr Clone(const std::string &_name, ScenePtr _scene)
Clone the light with a new name.
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
void UpdateFromMsg(ConstLightPtr &_msg)
Update a light source from a message.
void SetLightType(const std::string &_type)
Set the light type.
void SetSpecularColor(const common::Color &_color) GAZEBO_DEPRECATED(9.0)
Set the specular color.
void SetSpotFalloff(const double _value)
Set the spot light falloff.
void ShowVisual(const bool _s)
Set whether to show the visual.
Defines a color.
Definition: Color.hh:36
Light(ScenePtr _scene)
Constructor.
void Load()
Load the light using default parameters.
ignition::math::Color SpecularColor() const
Get the specular color.
ignition::math::Vector3d Direction() const
Get the direction.
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:328
boost::shared_ptr< Light > LightPtr
Definition: RenderTypes.hh:86
void SetDiffuseColor(const common::Color &_color) GAZEBO_DEPRECATED(9.0)
Set the diffuse color.
ignition::math::Color DiffuseColor() const
Get the diffuse color.
A light source.
Definition: rendering/Light.hh:54
void SetSpotOuterAngle(const double _angle)
Set the spot light outer angle.