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.
const Geometry * Geom() const
Get a pointer to the visual's geometry.
float Transparency() const
Get the transparency value of the visual.
void SetName(const std::string &_name)
Set 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.
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.
bool HasLaserRetro() const
Get whether the lidar reflective intensity was set was set.
const sdf::Material * Material() const
Get a pointer to the visual's material properties.
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.
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.
const ignition::math::Pose3d & RawPose() const
Get the pose of the visual object.
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.
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