Light.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2012-2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _LIGHT_HH_
#define _LIGHT_HH_

#include <string>
#include <iostream>
#include <sdf/sdf.hh>

#include "gazebo/msgs/msgs.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/common/Event.hh"
#include "gazebo/common/Color.hh"
#include "gazebo/util/system.hh"

namespace Ogre
{
  class Light;
}

namespace gazebo
{
  namespace rendering
  {
    class Scene;
    class DynamicLines;


    class GZ_RENDERING_VISIBLE Light :
      public boost::enable_shared_from_this<Light>
    {
      public: Light(ScenePtr _scene);

      public: virtual ~Light();

      public: void Load(sdf::ElementPtr _sdf);

      public: void Load();

      public: void LoadFromMsg(ConstLightPtr &_msg);

      public: void LoadFromMsg(const msgs::Light &_msg);

      public: void SetName(const std::string &_name);

      public: std::string GetName() const;

      public: std::string GetType() const;

      public: void SetPosition(const math::Vector3 &_p);

      public: math::Vector3 GetPosition() const;

      public: void SetRotation(const math::Quaternion &_q);

      public: math::Quaternion GetRotation() const;

      public: virtual bool SetSelected(bool _s);

      // \brief Toggle light visual visibility
      public: void ToggleShowVisual();

      public: void ShowVisual(bool _s);

      public: bool GetVisible() const;

      public: void SetLightType(const std::string &_type);

      public: void SetDiffuseColor(const common::Color &_color);

      public: common::Color GetDiffuseColor() const;

      public: void SetSpecularColor(const common::Color &_color);

      public: common::Color GetSpecularColor() const;

      public: void SetDirection(const math::Vector3 &_dir);

      public: math::Vector3 GetDirection() const;

      public: void SetAttenuation(double _constant, double _linear,
                                  double _quadratic);

      public: void SetSpotInnerAngle(const double &_angle);

      public: void SetSpotOuterAngle(const double &_angle);

      public: void SetSpotFalloff(const double &_value);

      public: void SetRange(const double &_range);

      public: void SetCastShadows(const bool &_cast);

      public: void FillMsg(msgs::Light &_msg) const;

      public: void UpdateFromMsg(ConstLightPtr &_msg);

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

      protected: virtual void OnPoseChange() {}

      private: void CreateVisual();

      private: void Update();

      private: void UpdateSDFFromMsg(const msgs::Light &_msg);

      private: Ogre::Light *light;

      private: VisualPtr visual;

      private: DynamicLines *line;

      private: sdf::ElementPtr sdf;

      private: event::ConnectionPtr showLightsConnection;

      private: static unsigned int lightCounter;

      private: ScenePtr scene;
    };
  }
}
#endif