LightState.hh

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/*
 * Copyright (C) 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 GAZEBO_PHYSICS_LIGHTSTATE_HH_
#define GAZEBO_PHYSICS_LIGHTSTATE_HH_

#include <iomanip>
#include <ignition/math/Pose3.hh>

#include "gazebo/physics/State.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE LightState : public State
    {
      public: LightState() = default;

      public: LightState(const LightPtr _light, const common::Time &_realTime,
                  const common::Time &_simTime, const uint64_t _iterations);

      public: explicit LightState(const sdf::ElementPtr _sdf);

      public: virtual void Load(const sdf::ElementPtr _elem);

      public: void Load(const LightPtr _light, const common::Time &_realTime,
                  const common::Time &_simTime, const uint64_t _iterations);

      public: const ignition::math::Pose3d Pose() const;

      public: bool IsZero() const;

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

      public: LightState &operator=(const LightState &_state);

      public: LightState operator-(const LightState &_state) const;

      public: LightState operator+(const LightState &_state) const;

      public: inline friend std::ostream &operator<<(std::ostream &_out,
                  const gazebo::physics::LightState &_state)
      {
        ignition::math::Vector3d q(_state.pose.Rot().Euler());
        _out << std::fixed <<std::setprecision(3)
          << "<light name='" << _state.GetName() << "'>"
          << "<pose>"
          << _state.pose.Pos().X() << " "
          << _state.pose.Pos().Y() << " "
          << _state.pose.Pos().Z() << " "
          << q.X() << " "
          << q.Y() << " "
          << q.Z() << " "
          << "</pose>";

        _out << "</light>";

        return _out;
      }

      private: ignition::math::Pose3d pose;
    };

  }
}
#endif