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...

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

common::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...

common::Color	GetDiffuseColor () const GAZEBO_DEPRECATED(7.0)
	Get the diffuse color. More...

math::Vector3	GetDirection () const GAZEBO_DEPRECATED(7.0)
	Get the direction. More...

std::string	GetName () const GAZEBO_DEPRECATED(7.0)
	Get the name of the visual. More...

math::Vector3	GetPosition () const GAZEBO_DEPRECATED(7.0)
	Get the position of the light. More...

math::Quaternion	GetRotation () const GAZEBO_DEPRECATED(7.0)
	Get the rotation of the light. More...

common::Color	GetSpecularColor () const GAZEBO_DEPRECATED(7.0)
	Get the specular color. More...

std::string	GetType () const GAZEBO_DEPRECATED(7.0)
	Get the type of the light. More...

bool	GetVisible () const GAZEBO_DEPRECATED(7.0)
	Get whether the light is visible. 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 common::Color &_color)
	Set the diffuse color. More...

void	SetDirection (const math::Vector3 &_dir) GAZEBO_DEPRECATED(7.0)
	Set the direction. 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 math::Vector3 &_p) GAZEBO_DEPRECATED(7.0)
	Set the position of the light. 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 math::Quaternion &_q) GAZEBO_DEPRECATED(7.0)
	Set the rotation of the light. 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 common::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	ShowVisual (const bool _s)
	Set whether to show the visual. More...

common::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 ( ScenePtr _scene )

Constructor.

Parameters

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

virtual ~Light ( )

virtual

Destructor.

Member Function Documentation

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

common::Color DiffuseColor ( ) const

Get the diffuse color.

Returns: The light's diffuse color.

ignition::math::Vector3d Direction ( ) const

Get the direction.

Returns: The light's direction.

void FillMsg ( msgs::Light & _msg ) const

Fill the contents of a light message.

Parameters

[out] _msg Message to fill.

common::Color GetDiffuseColor ( ) const

Get the diffuse color.

Returns: The light's diffuse color.

Deprecated:: See DiffuseColor()

math::Vector3 GetDirection ( ) const

Get the direction.

Returns: The light's direction.

Deprecated:: See Direction()

std::string GetName ( ) const

Get the name of the visual.

Returns: The light's name.

Deprecated:: See Name()

math::Vector3 GetPosition ( ) const

Get the position of the light.

Returns: The position of the light

Deprecated:: See Position()

math::Quaternion GetRotation ( ) const

Get the rotation of the light.

Returns: The rotation of the light

Deprecated:: See Rotation()

common::Color GetSpecularColor ( ) const

Get the specular color.

Returns: The specular color

Deprecated:: See SpecularColor()

std::string GetType ( ) const

Get the type of the light.

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

Deprecated:: See Type()

bool GetVisible ( ) const

Get whether the light is visible.

Returns: True if the light is visible.

Deprecated:: See Visible()

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.

void Load ( )

Load the light using default parameters.

void LoadFromMsg ( ConstLightPtr & _msg )

Load from a light message.

Parameters

[in] _msg Containing the light information.

void LoadFromMsg ( const msgs::Light & _msg )

Load from a light message.

Parameters

[in] _msg Message containing the light information.

std::string Name ( ) const

Get the name of the visual.

Returns: The light's name.

virtual void OnPoseChange ( )

inlineprotectedvirtual

On pose change callback.

ignition::math::Vector3d Position ( ) const

Get the position of the light.

Returns: The position of the light

ignition::math::Quaterniond Rotation ( ) const

Get the rotation of the light.

Returns: The rotation of the light

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

Set the attenuation.

Parameters

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

void SetCastShadows ( const bool _cast )

Set cast shadows.

Parameters

[in] _cast Set to true to cast shadows.

void SetDiffuseColor ( const common::Color & _color )

Set the diffuse color.

Parameters

[in] _color Light diffuse color.

void SetDirection ( const math::Vector3 & _dir )

Set the direction.

Parameters

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

Deprecated:: See SetDirection() that accepts an ignition::math::Vector3d object.

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.

void SetLightType ( const std::string & _type )

Set the light type.

Parameters

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

void SetName ( const std::string & _name )

Set the name of the visual.

Parameters

[in] _name Name of the light source.

void SetPosition ( const math::Vector3 & _p )

Set the position of the light.

Parameters

[in] _p New position for the light

Deprecated:: See SetPosition() that accepts an ignition::math::Vector3d object.

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

Set the position of the light.

Parameters

[in] _p New position for the light

void SetRange ( const double _range )

Set the range.

Parameters

[in] _range Rage of the light in meters.

void SetRotation ( const math::Quaternion & _q )

Set the rotation of the light.

Parameters

[in] _q New rotation for the light

Deprecated:: See SetRotation() that accepts an ignition::math::Quaterniond object.

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

Set the rotation of the light.

Parameters

[in] _q New rotation for the light

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.

void SetSpecularColor ( const common::Color & _color )

Set the specular color.

Parameters

[in] _color The specular color

void SetSpotFalloff ( const double _value )

Set the spot light falloff.

Parameters

[in] _value Falloff value

void SetSpotInnerAngle ( const double _angle )

Set the spot light inner angle.

Parameters

[in] _angle Inner angle in radians

void SetSpotOuterAngle ( const double _angle )

Set the spot light outer angle.

Parameters

[in] _angle Outer angle in radians

void ShowVisual ( const bool _s )

Set whether to show the visual.

Parameters

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

common::Color SpecularColor ( ) const

Get the specular color.

Returns: The specular color

void ToggleShowVisual ( )

std::string Type ( ) const

Get the type of the light.

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

void UpdateFromMsg ( ConstLightPtr & _msg )

Update a light source from a message.

Parameters

[in] _msg Light message to update from

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

Member Function Documentation