A light source. More...

#include <rendering/rendering.hh>

Inherits enable_shared_from_this< Light >.

Public Member Functions
	Light (ScenePtr _scene)
	Constructor. More...

virtual	~Light ()
	Destructor. More...

bool	CastShadows () const
	Get cast shadows. More...

LightPtr	Clone (const std::string &_name, ScenePtr _scene)
	Clone the light with a new name. More...

ignition::math::Color	DiffuseColor () const
	Get the diffuse color. More...

ignition::math::Vector3d	Direction () const
	Get the direction. More...

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

uint32_t	Id () const
	Get the id associated with this light. More...

std::string	LightType () const
	Get the light type. More...

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

void	Load ()
	Load the light using default parameters. More...

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

void	LoadFromMsg (const msgs::Light &_msg)
	Load from a light message. More...

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

ignition::math::Vector3d	Position () const
	Get the position of the light. More...

ignition::math::Quaterniond	Rotation () const
	Get the rotation of the light. More...

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

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

void	SetDiffuseColor (const ignition::math::Color &_color)
	Set the diffuse color. More...

void	SetDirection (const ignition::math::Vector3d &_dir)
	Set the direction. More...

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

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

void	SetPosition (const ignition::math::Vector3d &_p)
	Set the position of the light. More...

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

void	SetRotation (const ignition::math::Quaterniond &_q)
	Set the rotation of the light. More...

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

void	SetSpecularColor (const ignition::math::Color &_color)
	Set the specular color. More...

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

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

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

void	SetVisible (const bool _s)
	Set whether the light will be visible. More...

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

ignition::math::Color	SpecularColor () const
	Get the specular color. More...

void	ToggleShowVisual ()

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

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

bool	Visible () const
	Get whether the light is visible. More...

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

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

◆ Light()

Light ( ScenePtr _scene )

explicit

Constructor.

Parameters

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

◆ ~Light()

virtual ~Light ( )

virtual

Destructor.

Member Function Documentation

◆ CastShadows()

bool CastShadows ( ) const

Get cast shadows.

Returns: True if cast shadows.

◆ Clone()

LightPtr Clone	(	const std::string &	_name,
		ScenePtr	_scene
	)

Clone the light with a new name.

Parameters

[in]	_name	Name of the cloned light.
[in]	_scene	Scene to contain the light.

Returns: a clone of the light

◆ DiffuseColor()

ignition::math::Color DiffuseColor ( ) const

Get the diffuse color.

Returns: The light's diffuse color.

◆ Direction()

ignition::math::Vector3d Direction ( ) const

Get the direction.

Returns: The light's direction.

◆ FillMsg()

void FillMsg ( msgs::Light & _msg ) const

Fill the contents of a light message.

Parameters

[out] _msg Message to fill.

◆ Id()

uint32_t Id ( ) const

Get the id associated with this light.

Returns: Unique Light id

◆ LightType()

std::string LightType ( ) const

Get the light type.

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

◆ Load() [1/2]

void Load ( sdf::ElementPtr _sdf )

Load the light using a set of SDF parameters.

Parameters

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

◆ Load() [2/2]

void Load ( )

Load the light using default parameters.

◆ LoadFromMsg() [1/2]

void LoadFromMsg ( ConstLightPtr & _msg )

Load from a light message.

Parameters

[in] _msg Containing the light information.

◆ LoadFromMsg() [2/2]

void LoadFromMsg ( const msgs::Light & _msg )

Load from a light message.

Parameters

[in] _msg Message containing the light information.

◆ Name()

std::string Name ( ) const

Get the name of the visual.

Returns: The light's name.

◆ OnPoseChange()

virtual void OnPoseChange ( )

inlineprotectedvirtual

On pose change callback.

◆ Position()

ignition::math::Vector3d Position ( ) const

Get the position of the light.

Returns: The position of the light

◆ Rotation()

ignition::math::Quaterniond Rotation ( ) const

Get the rotation of the light.

Returns: The rotation of the light

◆ SetAttenuation()

void SetAttenuation	(	double	_constant,
		double	_linear,
		double	_quadratic
	)

Set the attenuation.

Parameters

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

◆ SetCastShadows()

void SetCastShadows ( const bool _cast )

Set cast shadows.

Parameters

[in] _cast Set to true to cast shadows.

◆ SetDiffuseColor()

void SetDiffuseColor ( const ignition::math::Color & _color )

Set the diffuse color.

Parameters

[in] _color Light diffuse color.

◆ SetDirection()

void SetDirection ( const ignition::math::Vector3d & _dir )

Set the direction.

Parameters

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

◆ SetLightType()

void SetLightType ( const std::string & _type )

Set the light type.

Parameters

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

◆ SetName()

void SetName ( const std::string & _name )

Set the name of the visual.

Parameters

[in] _name Name of the light source.

◆ SetPosition()

void SetPosition ( const ignition::math::Vector3d & _p )

Set the position of the light.

Parameters

[in] _p New position for the light

◆ SetRange()

void SetRange ( const double _range )

Set the range.

Parameters

[in] _range Rage of the light in meters.

◆ SetRotation()

void SetRotation ( const ignition::math::Quaterniond & _q )

Set the rotation of the light.

Parameters

[in] _q New rotation for the light

◆ SetSelected()

virtual bool SetSelected ( const 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.

◆ SetSpecularColor()

void SetSpecularColor ( const ignition::math::Color & _color )

Set the specular color.

Parameters

[in] _color The specular color

◆ SetSpotFalloff()

void SetSpotFalloff ( const double _value )

Set the spot light falloff.

Parameters

[in] _value Falloff value

◆ SetSpotInnerAngle()

void SetSpotInnerAngle ( const double _angle )

Set the spot light inner angle.

Parameters

[in] _angle Inner angle in radians

◆ SetSpotOuterAngle()

void SetSpotOuterAngle ( const double _angle )

Set the spot light outer angle.

Parameters

[in] _angle Outer angle in radians

◆ SetVisible()

void SetVisible ( const bool _s )

Set whether the light will be visible.

Parameters

[in] _s Set to true to make the light visible, false to turn the light off.

◆ ShowVisual()

void ShowVisual ( const bool _s )

Set whether to show the visual.

Parameters

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

◆ SpecularColor()

ignition::math::Color SpecularColor ( ) const

Get the specular color.

Returns: The specular color

◆ ToggleShowVisual()

void ToggleShowVisual ( )

◆ Type()

std::string Type ( ) const

Get the type of the light.

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

◆ UpdateFromMsg()

void UpdateFromMsg ( ConstLightPtr & _msg )

Update a light source from a message.

Parameters

[in] _msg Light message to update from

◆ Visible()

bool Visible ( ) const

Get whether the light is visible.

Returns: True if the light is visible.

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

rendering/Light.hh

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Light()

◆ ~Light()

Member Function Documentation

◆ CastShadows()

◆ Clone()

◆ DiffuseColor()

◆ Direction()

◆ FillMsg()

◆ Id()

◆ LightType()

◆ Load() [1/2]

◆ Load() [2/2]

◆ LoadFromMsg() [1/2]

◆ LoadFromMsg() [2/2]

◆ Name()

◆ OnPoseChange()

◆ Position()

◆ Rotation()

◆ SetAttenuation()

◆ SetCastShadows()

◆ SetDiffuseColor()

◆ SetDirection()

◆ SetLightType()

◆ SetName()

◆ SetPosition()

◆ SetRange()

◆ SetRotation()

◆ SetSelected()

◆ SetSpecularColor()

◆ SetSpotFalloff()

◆ SetSpotInnerAngle()

◆ SetSpotOuterAngle()

◆ SetVisible()

◆ ShowVisual()

◆ SpecularColor()

◆ ToggleShowVisual()

◆ Type()

◆ UpdateFromMsg()

◆ Visible()