A light source. More...

#include <rendering/rendering.hh>

Public Member Functions
	Light (ScenePtr _scene)
	Constructor.

virtual	~Light ()
	Destructor.

void	FillMsg (msgs::Light &_msg) const
	Fill the contents of a light message.

common::Color	GetDiffuseColor () const
	Get the diffuse color.

math::Vector3	GetDirection () const
	Get the direction.

std::string	GetName () const
	Get the name of the visual.

math::Vector3	GetPosition () const
	Get the position of the light.

common::Color	GetSpecularColor () const
	Get the specular color.

std::string	GetType () const
	Get the type of the light.

void	Load (sdf::ElementPtr _sdf)
	Load the light using a set of SDF parameters.

void	Load ()
	Load the light using default parameters.

void	LoadFromMsg (ConstLightPtr &_msg)
	Load from a light message.

void	SetAttenuation (double _constant, double _linear, double _quadratic)
	Set the attenuation.

void	SetCastShadows (const bool &_cast)
	Set cast shadows.

void	SetDiffuseColor (const common::Color &_color)
	Set the diffuse color.

void	SetDirection (const math::Vector3 &_dir)
	Set the direction.

void	SetLightType (const std::string &_type)
	Set the light type.

void	SetName (const std::string &_name)
	Set the name of the visual.

void	SetPosition (const math::Vector3 &_p)
	Set the position of the light.

void	SetRange (const double &_range)
	Set the range.

virtual bool	SetSelected (bool _s)
	Set whether this entity has been selected by the user through the gui.

void	SetSpecularColor (const common::Color &_color)
	Set the specular color.

void	SetSpotFalloff (const double &_value)
	Set the spot light falloff.

void	SetSpotInnerAngle (const double &_angle)
	Set the spot light inner angle.

void	SetSpotOuterAngle (const double &_angle)
	Set the spot light outer angle.

void	ShowVisual (bool _s)
	Set whether to show the visual.

void	ToggleShowVisual ()

void	UpdateFromMsg (ConstLightPtr &_msg)
	Update a light source from a message.

Protected Member Functions
virtual void	OnPoseChange ()
	On pose change callback.

Detailed Description

A light source.

There are three types of lights: Point, Spot, and Directional. This class encapsulates all three. Point lights are light light bulbs, spot lights project a cone of light, and directional lights are light sun light.

Constructor & Destructor Documentation

gazebo::rendering::Light::Light ( ScenePtr _scene )

Constructor.

Parameters

[in] _scene Pointer to the scene that contains the Light.

virtual gazebo::rendering::Light::~Light ( )

virtual

Destructor.

Member Function Documentation

void gazebo::rendering::Light::FillMsg ( msgs::Light & _msg ) const

Fill the contents of a light message.

Parameters

[out] _msg Message to fill.

common::Color gazebo::rendering::Light::GetDiffuseColor ( ) const

Get the diffuse color.

Returns: The light's diffuse color.

math::Vector3 gazebo::rendering::Light::GetDirection ( ) const

Get the direction.

Returns: The light's direction.

std::string gazebo::rendering::Light::GetName ( ) const

Get the name of the visual.

Returns: The light's name.

math::Vector3 gazebo::rendering::Light::GetPosition ( ) const

Get the position of the light.

Returns: The position of the light

common::Color gazebo::rendering::Light::GetSpecularColor ( ) const

Get the specular color.

Returns: The specular color

std::string gazebo::rendering::Light::GetType ( ) const

Get the type of the light.

Returns: The light type: "point", "spot", "directional".

void gazebo::rendering::Light::Load ( sdf::ElementPtr _sdf )

Load the light using a set of SDF parameters.

Parameters

[in] _sdf Pointer to the SDF containing the Light description.

void gazebo::rendering::Light::Load ( )

Load the light using default parameters.

void gazebo::rendering::Light::LoadFromMsg ( ConstLightPtr & _msg )

Load from a light message.

Parameters

[in] _msg Containing the light information.

virtual void gazebo::rendering::Light::OnPoseChange ( )

inlineprotectedvirtual

On pose change callback.

void gazebo::rendering::Light::SetAttenuation	(	double	_constant,
		double	_linear,
		double	_quadratic
	)

Set the attenuation.

Parameters

[in]	_contant	Constant attenuation
[in]	_linear	Linear attenuation
[in]	_quadratic	Quadratic attenuation

void gazebo::rendering::Light::SetCastShadows ( const bool & _cast )

Set cast shadows.

Parameters

[in] _cast Set to true to cast shadows.

void gazebo::rendering::Light::SetDiffuseColor ( const common::Color & _color )

Set the diffuse color.

Parameters

[in] _color Light diffuse color.

void gazebo::rendering::Light::SetDirection ( const math::Vector3 & _dir )

Set the direction.

Parameters

[in] _dir Set the light's direction. Only applicable to spot and directional lights.

void gazebo::rendering::Light::SetLightType ( const std::string & _type )

Set the light type.

Parameters

[in] _type The light type: "point", "spot", "directional"

void gazebo::rendering::Light::SetName ( const std::string & _name )

Set the name of the visual.

Parameters

[in] _name Name of the light source.

void gazebo::rendering::Light::SetPosition ( const math::Vector3 & _p )

Set the position of the light.

Parameters

[in] _p New position for the light

void gazebo::rendering::Light::SetRange ( const double & _range )

Set the range.

Parameters

[in] _range Rage of the light in meters.

virtual bool gazebo::rendering::Light::SetSelected ( bool _s )

virtual

Set whether this entity has been selected by the user through the gui.

Parameters

[in] _s Set to True when the light is selected by the user.

void gazebo::rendering::Light::SetSpecularColor ( const common::Color & _color )

Set the specular color.

Parameters

[in] _color The specular color

void gazebo::rendering::Light::SetSpotFalloff ( const double & _value )

Set the spot light falloff.

Parameters

[in] _value Falloff value

void gazebo::rendering::Light::SetSpotInnerAngle ( const double & _angle )

Set the spot light inner angle.

Parameters

[in] _angle Inner angle in radians

void gazebo::rendering::Light::SetSpotOuterAngle ( const double & _angle )

Set the spot light outer angle.

Parameters

[in] _angle Outer angle in radians

void gazebo::rendering::Light::ShowVisual ( bool _s )

Set whether to show the visual.

Parameters

[in] _s Set to true to draw a representation of the light.

void gazebo::rendering::Light::ToggleShowVisual ( )

void gazebo::rendering::Light::UpdateFromMsg ( ConstLightPtr & _msg )

Update a light source from a message.

Parameters

[in] _msg Light message to update from

The documentation for this class was generated from the following file:

Light.hh

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation