Public Member Functions | List of all members
sdf::v9::Visual Class Reference

#include <Visual.hh>

Public Member Functions

 Visual ()
 Default constructor. More...
 
 Visual (const Visual &_visual)
 Copy constructor. More...
 
 Visual (Visual &&_visual) noexcept
 Move constructor. More...
 
 ~Visual ()
 Destructor. More...
 
bool CastShadows () const
 Get whether the visual casts shadows. More...
 
sdf::ElementPtr Element () const
 Get a pointer to the SDF element that was used during load. More...
 
const GeometryGeom () const
 Get a pointer to the visual's geometry. More...
 
Errors Load (ElementPtr _sdf)
 Load the visual based on a element pointer. More...
 
sdf::Material * Material () const
 Get a pointer to the visual's material properties. More...
 
std::string Name () const
 Get the name of the visual. More...
 
Visualoperator= (Visual &&_visual)
 Move assignment operator. More...
 
Visualoperator= (const Visual &_visual)
 Copy assignment operator. More...
 
const ignition::math::Pose3d & Pose () const SDF_DEPRECATED(9.0)
 Get the pose of the visual object. More...
 
const std::string & PoseFrame () const SDF_DEPRECATED(9.0)
 Get the name of the coordinate frame in which this visual object's pose is expressed. More...
 
const std::string & PoseRelativeTo () const
 Get the name of the coordinate frame relative to which this object's pose is expressed. More...
 
const ignition::math::Pose3d & RawPose () const
 Get the pose of the visual object. More...
 
sdf::SemanticPose SemanticPose () const
 Get SemanticPose object of this object to aid in resolving poses. More...
 
void SetCastShadows (bool _castShadows)
 Set whether the visual casts shadows. More...
 
void SetGeom (const Geometry &_geom)
 Set the visual's geometry. More...
 
void SetMaterial (const sdf::Material &_material)
 Set the visual's material. More...
 
void SetName (const std::string &_name) const
 Set the name of the visual. More...
 
void SetPose (const ignition::math::Pose3d &_pose) SDF_DEPRECATED(9.0)
 Set the pose of the visual object. More...
 
void SetPoseFrame (const std::string &_frame) SDF_DEPRECATED(9.0)
 Set the name of the coordinate frame in which this visual object's pose is expressed. More...
 
void SetPoseRelativeTo (const std::string &_frame)
 Set the name of the coordinate frame relative to which this object's pose is expressed. More...
 
void SetRawPose (const ignition::math::Pose3d &_pose)
 Set the pose of the visual object. More...
 

Constructor & Destructor Documentation

◆ Visual() [1/3]

sdf::v9::Visual::Visual ( )

Default constructor.

◆ Visual() [2/3]

sdf::v9::Visual::Visual ( const Visual _visual)

Copy constructor.

Parameters
[in]_visualVisual to copy.

◆ Visual() [3/3]

sdf::v9::Visual::Visual ( Visual &&  _visual)
noexcept

Move constructor.

Parameters
[in]_visualVisual to move.

◆ ~Visual()

sdf::v9::Visual::~Visual ( )

Destructor.

Member Function Documentation

◆ CastShadows()

bool sdf::v9::Visual::CastShadows ( ) const

Get whether the visual casts shadows.

Returns
True if the visual casts shadows, false otherwise

◆ Element()

sdf::ElementPtr sdf::v9::Visual::Element ( ) const

Get a pointer to the SDF element that was used during load.

Returns
SDF element pointer. The value will be nullptr if Load has not been called.

◆ Geom()

const Geometry* sdf::v9::Visual::Geom ( ) const

Get a pointer to the visual's geometry.

Returns
The visual's geometry.

◆ Load()

Errors sdf::v9::Visual::Load ( ElementPtr  _sdf)

Load the visual based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters
[in]_sdfThe SDF Element pointer
Returns
Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

◆ Material()

sdf::Material* sdf::v9::Visual::Material ( ) const

Get a pointer to the visual's material properties.

This can be a nullptr if material properties have not been set.

Returns
Pointer to the visual's material properties. Nullptr indicates that material properties have not been set.

◆ Name()

std::string sdf::v9::Visual::Name ( ) const

Get the name of the visual.

The name of the visual must be unique within the scope of a Link.

Returns
Name of the visual.

◆ operator=() [1/2]

Visual& sdf::v9::Visual::operator= ( Visual &&  _visual)

Move assignment operator.

Parameters
[in]_visualVisual to move.
Returns
Reference to this.

◆ operator=() [2/2]

Visual& sdf::v9::Visual::operator= ( const Visual _visual)

Copy assignment operator.

Parameters
[in]_visualVisual to copy.
Returns
Reference to this.

◆ Pose()

const ignition::math::Pose3d& sdf::v9::Visual::Pose ( ) const

Get the pose of the visual object.

This is the pose of the visual as specified in SDF (<visual><pose> ... </pose></visual>).

Returns
The pose of the visual object.
Deprecated:
See SetRawPose.

◆ PoseFrame()

const std::string& sdf::v9::Visual::PoseFrame ( ) const

Get the name of the coordinate frame in which this visual object's pose is expressed.

A empty value indicates that the frame is the parent link.

Returns
The name of the pose frame.
Deprecated:
See PoseRelativeTo.

◆ PoseRelativeTo()

const std::string& sdf::v9::Visual::PoseRelativeTo ( ) const

Get the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the parent link.

Returns
The name of the pose relative-to frame.

◆ RawPose()

const ignition::math::Pose3d& sdf::v9::Visual::RawPose ( ) const

Get the pose of the visual object.

This is the pose of the visual as specified in SDF (<visual><pose> ... </pose></visual>).

Returns
The pose of the visual object.

◆ SemanticPose()

sdf::SemanticPose sdf::v9::Visual::SemanticPose ( ) const

Get SemanticPose object of this object to aid in resolving poses.

Returns
SemanticPose object for this link.

◆ SetCastShadows()

void sdf::v9::Visual::SetCastShadows ( bool  _castShadows)

Set whether the visual casts shadows.

Parameters
[in]_castShadowsTrue to cast shadows, false to not cast shadows

◆ SetGeom()

void sdf::v9::Visual::SetGeom ( const Geometry _geom)

Set the visual's geometry.

Parameters
[in]_geomThe geometry of the visual object

◆ SetMaterial()

void sdf::v9::Visual::SetMaterial ( const sdf::Material &  _material)

Set the visual's material.

Parameters
[in]_materialThe material of the visual object

◆ SetName()

void sdf::v9::Visual::SetName ( const std::string &  _name) const

Set the name of the visual.

The name of the visual must be unique within the scope of a Link.

Parameters
[in]_nameName of the visual.

◆ SetPose()

void sdf::v9::Visual::SetPose ( const ignition::math::Pose3d &  _pose)

Set the pose of the visual object.

See also
const ignition::math::Pose3d &Pose() const
Parameters
[in]_poseThe pose of the visual object.
Deprecated:
See SetRawPose.

◆ SetPoseFrame()

void sdf::v9::Visual::SetPoseFrame ( const std::string &  _frame)

Set the name of the coordinate frame in which this visual object's pose is expressed.

A empty value indicates that the frame is the parent link.

Returns
The name of the pose frame.
Deprecated:
See SetPoseRelativeTo.

◆ SetPoseRelativeTo()

void sdf::v9::Visual::SetPoseRelativeTo ( const std::string &  _frame)

Set the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the parent link.

Parameters
[in]_frameThe name of the pose relative-to frame.

◆ SetRawPose()

void sdf::v9::Visual::SetRawPose ( const ignition::math::Pose3d &  _pose)

Set the pose of the visual object.

See also
const ignition::math::Pose3d &RawPose() const
Parameters
[in]_poseThe pose of the visual object.

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