Ignition Gazebo

API Reference

3.5.0
SceneManager.hh
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2  * Copyright (C) 2019 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef IGNITION_GAZEBO_SCENEMANAGER_HH_
19 #define IGNITION_GAZEBO_SCENEMANAGER_HH_
20 
21 #include <map>
22 #include <memory>
23 #include <string>
24 
25 #include <sdf/Geometry.hh>
26 #include <sdf/Actor.hh>
27 #include <sdf/Light.hh>
28 #include <sdf/Link.hh>
29 #include <sdf/Material.hh>
30 #include <sdf/Model.hh>
31 #include <sdf/Visual.hh>
32 
34 
35 #include <ignition/rendering/RenderTypes.hh>
36 
37 #include <ignition/gazebo/config.hh>
39 #include <ignition/gazebo/Export.hh>
40 
41 namespace ignition
42 {
43 namespace gazebo
44 {
45 // Inline bracket to help doxygen filtering.
46 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
47  // Forward declaration
48  class SceneManagerPrivate;
49 
51  class IGNITION_GAZEBO_VISIBLE SceneManager
52  {
54  public: SceneManager();
55 
57  public: ~SceneManager();
58 
61  public: void SetScene(rendering::ScenePtr _scene);
62 
65  public: rendering::ScenePtr Scene() const;
66 
69  public: void SetWorldId(Entity _id);
70 
73  public: Entity WorldId() const;
74 
80  public: rendering::VisualPtr CreateModel(Entity _id,
81  const sdf::Model &_model, Entity _parentId = 0);
82 
88  public: rendering::VisualPtr CreateLink(Entity _id,
89  const sdf::Link &_link, Entity _parentId = 0);
90 
96  public: rendering::VisualPtr CreateVisual(Entity _id,
97  const sdf::Visual &_visual, Entity _parentId = 0);
98 
104  public: rendering::VisualPtr CreateActor(Entity _id,
105  const sdf::Actor &_actor, Entity _parentId = 0);
106 
112  public: rendering::LightPtr CreateLight(Entity _id,
113  const sdf::Light &_light, Entity _parentId);
114 
122  public: bool AddSensor(Entity _gazeboId, const std::string &_sensorName,
123  Entity _parentGazeboId = 0);
124 
128  public: bool HasEntity(Entity _id) const;
129 
133  public: rendering::NodePtr NodeById(Entity _id) const;
134 
138  public: rendering::MeshPtr ActorMeshById(Entity _id) const;
139 
144  public: std::map<std::string, math::Matrix4d> ActorMeshAnimationAt(
145  Entity _id, std::chrono::steady_clock::duration _time) const;
146 
149  public: void RemoveEntity(Entity _id);
150 
156  public: Entity EntityFromNode(const rendering::NodePtr &_node) const;
157 
164  private: rendering::GeometryPtr LoadGeometry(const sdf::Geometry &_geom,
165  math::Vector3d &_scale, math::Pose3d &_localPose);
166 
170  private: rendering::MaterialPtr LoadMaterial(
171  const sdf::Material &_material);
172 
179  public: rendering::VisualPtr TopLevelVisual(
180  // NOLINTNEXTLINE
181  rendering::VisualPtr _visual) const;
182 
188  public: rendering::NodePtr TopLevelNode(
189  const rendering::NodePtr &_node) const;
190 
193  private: std::unique_ptr<SceneManagerPrivate> dataPtr;
194  };
195 }
196 }
197 }
198 
199 #endif
Component< NoData, class VisualTag > Visual
A component that identifies an entity as being a visual.
Definition: Visual.hh:33
Component< sdf::Geometry, class GeometryTag, serializers::GeometrySerializer > Geometry
This component holds an entity&#39;s geometry.
Definition: Geometry.hh:46
STL class.
Component< sdf::Scene, class SceneTag, serializers::SceneSerializer > Scene
This component holds scene properties of the world.
Definition: Scene.hh:45
STL class.
Component< sdf::Material, class MaterialTag, serializers::MaterialSerializer > Material
This component holds an entity&#39;s material.
Definition: Material.hh:44
Component< NoData, class ModelTag > Model
A component that identifies an entity as being a model.
Definition: components/Model.hh:35
Component< sdf::Light, class LightTag, serializers::LightSerializer > Light
This component contains light source information. For more information on lights, see SDF&#39;s Light ele...
Definition: Light.hh:48
Component< NoData, class LinkTag > Link
A component that identifies an entity as being a link.
Definition: components/Link.hh:33
Scene manager class for loading and managing objects in the scene.
Definition: SceneManager.hh:51
Component< sdf::Actor, class ActorTag, serializers::ActorSerializer > Actor
This component contains actor source information. For more information on actors, see SDF&#39;s Actor ele...
Definition: Actor.hh:48
This library is part of the Ignition Robotics project.
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.
Definition: Entity.hh:59