Loading...
Searching...
No Matches
World.hh
Go to the documentation of this file.
1/*
2 * Copyright 2017 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16 */
17#ifndef SDF_WORLD_HH_
18#define SDF_WORLD_HH_
19
20#include <memory>
21#include <optional>
22#include <string>
23#include <ignition/math/SphericalCoordinates.hh>
24#include <ignition/math/Vector3.hh>
25#include <ignition/utils/ImplPtr.hh>
26
27#include "sdf/Atmosphere.hh"
28#include "sdf/Element.hh"
29#include "sdf/Gui.hh"
30#include "sdf/Scene.hh"
31#include "sdf/Types.hh"
32#include "sdf/sdf_config.h"
33#include "sdf/system_util.hh"
34
35namespace sdf
36{
37 // Inline bracket to help doxygen filtering.
38 inline namespace SDF_VERSION_NAMESPACE {
39 //
40
41 // Forward declare private data class.
42 class Actor;
43 class Frame;
44 class InterfaceModel;
45 class Light;
46 class Model;
47 class ParserConfig;
48 class Physics;
49 class NestedInclude;
50 struct PoseRelativeToGraph;
51 struct FrameAttachedToGraph;
52 template <typename T> class ScopedGraph;
53
55 {
57 public: World();
58
65 public: Errors Load(ElementPtr _sdf);
66
74 public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
75
80 public: Errors ValidateGraphs() const;
81
84 public: std::string Name() const;
85
88 public: void SetName(const std::string &_name);
89
94 public: std::string AudioDevice() const;
95
100 public: void SetAudioDevice(const std::string &_device);
101
106 public: ignition::math::Vector3d WindLinearVelocity() const;
107
112 public: void SetWindLinearVelocity(const ignition::math::Vector3d &_wind);
113
119 public: ignition::math::Vector3d Gravity() const;
120
124 public: void SetGravity(const ignition::math::Vector3d &_gravity);
125
132 public: ignition::math::Vector3d MagneticField() const;
133
140 public: void SetMagneticField(const ignition::math::Vector3d &_mag);
141
144 public: const ignition::math::SphericalCoordinates *
146
150 const ignition::math::SphericalCoordinates &_coord);
151
157 public: uint64_t ModelCount() const;
158
165 public: const Model *ModelByIndex(const uint64_t _index) const;
166
174 public: const Model *ModelByName(const std::string &_name) const;
175
181 public: bool ModelNameExists(const std::string &_name) const;
182
187 public: bool AddModel(const Model &_model);
188
193 public: bool AddActor(const Actor &_actor);
194
199 public: bool AddLight(const Light &_light);
200
202 public: void ClearModels();
203
205 public: void ClearActors();
206
208 public: void ClearLights();
209
212 public: uint64_t ActorCount() const;
213
219 public: const Actor *ActorByIndex(const uint64_t _index) const;
220
224 public: bool ActorNameExists(const std::string &_name) const;
225
231 public: uint64_t FrameCount() const;
232
240 public: const Frame *FrameByIndex(const uint64_t _index) const;
241
248 public: const Frame *FrameByName(const std::string &_name) const;
249
255 public: bool FrameNameExists(const std::string &_name) const;
256
259 public: uint64_t LightCount() const;
260
266 public: const Light *LightByIndex(const uint64_t _index) const;
267
271 public: bool LightNameExists(const std::string &_name) const;
272
277 public: const sdf::Atmosphere *Atmosphere() const;
278
281 public: void SetAtmosphere(const sdf::Atmosphere &_atmosphere);
282
287 public: const sdf::Gui *Gui() const;
288
291 public: void SetGui(const sdf::Gui &_gui);
292
297 public: const sdf::Scene *Scene() const;
298
301 public: void SetScene(const sdf::Scene &_scene);
302
307 public: sdf::ElementPtr Element() const;
308
311 public: uint64_t PhysicsCount() const;
312
319 public: const Physics *PhysicsByIndex(const uint64_t _index) const;
320
323 public: const Physics *PhysicsDefault() const;
324
328 public: bool PhysicsNameExists(const std::string &_name) const;
329
334 public: uint64_t InterfaceModelCount() const;
335
342 public: std::shared_ptr<const InterfaceModel> InterfaceModelByIndex(
343 const uint64_t _index) const;
344
353 const uint64_t _index) const;
354
359 private: void SetPoseRelativeToGraph(
361
366 private: void SetFrameAttachedToGraph(
368
371 friend class Root;
372
374 IGN_UTILS_IMPL_PTR(dataPtr)
375 };
376 }
377}
378#endif
Provides a description of an actor.
Definition Actor.hh:191
The Atmosphere class contains information about an atmospheric model and related parameters such as t...
Definition Atmosphere.hh:46
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition Frame.hh:43
Definition Gui.hh:31
Provides a description of a light source.
Definition Light.hh:64
Definition Model.hh:49
Contains the necessary information about an included model file for custom model parsers to be able t...
Definition InterfaceElements.hh:45
This class contains configuration options for the libsdformat parser.
Definition ParserConfig.hh:85
The physics element specifies the type and properties of a dynamics engine.
Definition Physics.hh:37
Root class that acts as an entry point to the SDF document model.
Definition Root.hh:55
Definition Scene.hh:34
Definition Collision.hh:39
Definition World.hh:55
void SetWindLinearVelocity(const ignition::math::Vector3d &_wind)
Set the wind linear velocity in the global/world coordinate frame.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
const Physics * PhysicsDefault() const
Get the default physics profile.
bool AddLight(const Light &_light)
Add a light to the world.
Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config)
Load the world based on a element pointer.
ignition::math::Vector3d Gravity() const
Get the acceleration due to gravity.
const sdf::Scene * Scene() const
Get a pointer to the Scene associated with this world.
const Frame * FrameByName(const std::string &_name) const
Get an explicit frame based on a name.
bool AddModel(const Model &_model)
Add a model to the world.
uint64_t ModelCount() const
Get the number of models that are immediate (not nested) children of this World object.
void SetScene(const sdf::Scene &_scene)
Set the Scene parameters associated with this world.
World()
Default constructor.
const NestedInclude * InterfaceModelNestedIncludeByIndex(const uint64_t _index) const
Get the nested include information of an immediate (not recursively nested) child interface model bas...
void SetName(const std::string &_name)
Set the name of the world.
bool LightNameExists(const std::string &_name) const
Get whether a light name exists.
const Frame * FrameByIndex(const uint64_t _index) const
Get an immediate (not nested) child explicit frame based on an index.
void SetMagneticField(const ignition::math::Vector3d &_mag)
Set the magnetic vector in Tesla, expressed in a coordinate frame defined by the SphericalCoordinate.
void SetAudioDevice(const std::string &_device)
Set the audio device name.
const Physics * PhysicsByIndex(const uint64_t _index) const
Get a physics profile based on an index.
bool ModelNameExists(const std::string &_name) const
Get whether a model name exists.
Errors ValidateGraphs() const
Check that the FrameAttachedToGraph and PoseRelativeToGraph are valid.
uint64_t FrameCount() const
Get the number of explicit frames that are immediate (not nested) children of this World object.
const Model * ModelByName(const std::string &_name) const
Get a model based on a name.
void ClearModels()
Remove all models.
uint64_t InterfaceModelCount() const
Get the number of nested interface models that are immediate (not recursively nested) children of thi...
void SetGui(const sdf::Gui &_gui)
Set the Gui parameters associated with this world.
const ignition::math::SphericalCoordinates * SphericalCoordinates() const
Get the spherical coordinates for the world origin.
std::shared_ptr< const InterfaceModel > InterfaceModelByIndex(const uint64_t _index) const
Get an immediate (not recursively nested) child interface model based on an index.
ignition::math::Vector3d MagneticField() const
Get the magnetic vector in Tesla, expressed in a coordinate frame defined by the SphericalCoordinates...
void SetSphericalCoordinates(const ignition::math::SphericalCoordinates &_coord)
Set the spherical coordinates for the world origin.
bool FrameNameExists(const std::string &_name) const
Get whether an explicit frame name exists.
void SetGravity(const ignition::math::Vector3d &_gravity)
Set the acceleration due to gravity.
const Actor * ActorByIndex(const uint64_t _index) const
Get an actor based on an index.
uint64_t ActorCount() const
Get the number of actors.
bool ActorNameExists(const std::string &_name) const
Get whether an actor name exists.
Errors Load(ElementPtr _sdf)
Load the world based on a element pointer.
bool AddActor(const Actor &_actor)
Add an actor to the world.
ignition::math::Vector3d WindLinearVelocity() const
Get the wind linear velocity in the global/world coordinate frame.
const sdf::Atmosphere * Atmosphere() const
Get a pointer to the atmosphere model associated with this world.
uint64_t LightCount() const
Get the number of lights.
const Model * ModelByIndex(const uint64_t _index) const
Get an immediate (not recursively nested) child model based on an index.
uint64_t PhysicsCount() const
Get the number of physics profiles.
std::string Name() const
Get the name of the world.
const Light * LightByIndex(const uint64_t _index) const
Get a light based on an index.
std::string AudioDevice() const
Get the audio device name.
const sdf::Gui * Gui() const
Get a pointer to the Gui associated with this world.
void ClearActors()
Remove all models.
bool PhysicsNameExists(const std::string &_name) const
Get whether a physics profile name exists.
void SetAtmosphere(const sdf::Atmosphere &_atmosphere)
Set the atmosphere model associated with this world.
void ClearLights()
Remove all models.
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