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* add sky dom Signed-off-by: Ian Chen <[email protected]> * feedback changes Signed-off-by: Ian Chen <[email protected]> * move sdf element check Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Louise Poubel <[email protected]>
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@@ -40,6 +40,7 @@ set (headers | |
SDFImpl.hh | ||
SemanticPose.hh | ||
Sensor.hh | ||
Sky.hh | ||
Sphere.hh | ||
Surface.hh | ||
Types.hh | ||
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/* | ||
* Copyright 2020 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. | ||
* | ||
*/ | ||
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#ifndef SDF_SKY_HH_ | ||
#define SDF_SKY_HH_ | ||
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#include <ignition/math/Color.hh> | ||
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#include "sdf/Element.hh" | ||
#include "sdf/Types.hh" | ||
#include "sdf/sdf_config.h" | ||
#include "sdf/system_util.hh" | ||
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namespace sdf | ||
{ | ||
// Inline bracket to help doxygen filtering. | ||
inline namespace SDF_VERSION_NAMESPACE { | ||
// | ||
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// Forward declarations. | ||
class SkyPrivate; | ||
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class SDFORMAT_VISIBLE Sky | ||
{ | ||
/// \brief Default constructor | ||
public: Sky(); | ||
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/// \brief Copy constructor | ||
/// \param[in] _sky Sky element to copy. | ||
public: Sky(const Sky &_sky); | ||
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/// \brief Move constructor | ||
/// \param[in] _sky Sky to move. | ||
public: Sky(Sky &&_sky) noexcept; | ||
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/// \brief Destructor | ||
public: ~Sky(); | ||
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/// \brief Assignment operator. | ||
/// \param[in] _sky The sky to set values from. | ||
/// \return *this | ||
public: Sky &operator=(const Sky &_sky); | ||
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/// \brief Move assignment operator. | ||
/// \param[in] _workflow The sky to move from. | ||
/// \return *this | ||
public: Sky &operator=(Sky &&_sky); | ||
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/// \brief Get time of day [0..24] | ||
/// \return Time of day | ||
public: double Time() const; | ||
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/// \brief Set time of day | ||
/// \param[in] _time Time of day [0..24] | ||
public: void SetTime(double _time); | ||
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/// \brief Get sunrise time | ||
/// \return sunrise time [0..24] | ||
public: double Sunrise() const; | ||
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/// \brief Set Sunrise time | ||
/// \param[in] _time Sunrise time [0..24] | ||
public: void SetSunrise(double _time); | ||
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/// \brief Get sunset time | ||
/// \return sunset time [0..24] | ||
public: double Sunset() const; | ||
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/// \brief Set Sunset time | ||
/// \param[in] _time Sunset time [0..24] | ||
public: void SetSunset(double _time); | ||
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/// \brief Get cloud speed | ||
/// \return cloud speed in meters per second | ||
public: double CloudSpeed() const; | ||
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/// \brief Set cloud speed | ||
/// \param[in] _speed cloud speed in meters per second. | ||
public: void SetCloudSpeed(double _speed); | ||
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/// \brief Get cloud direction angle (angle around up axis) | ||
/// \return cloud direction angle in world frame | ||
public: ignition::math::Angle CloudDirection() const; | ||
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/// \brief Set cloud direction angle (angle around up axis) | ||
/// \param[in] _angle Cloud direction angle in world frame. | ||
public: void SetCloudDirection(const ignition::math::Angle &_angle); | ||
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/// \brief Get cloud humidity | ||
/// \return cloud humidity [0..1] | ||
public: double CloudHumidity() const; | ||
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/// \brief Set cloud humidity | ||
/// \param[in] _humidity cloud humidity [0..1] | ||
public: void SetCloudHumidity(double _humidity); | ||
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/// \brief Get cloud mean size | ||
/// \return cloud mean size [0..1] | ||
public: double CloudMeanSize() const; | ||
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/// \brief Set cloud mean siz | ||
/// \param[in] _size cloud mean size [0..1] | ||
public: void SetCloudMeanSize(double _size); | ||
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/// \brief Get cloud ambient color | ||
/// \return cloud ambient color | ||
public: ignition::math::Color CloudAmbient() const; | ||
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/// \brief Set cloud ambient color | ||
/// \param[in] _ambient cloud ambient color | ||
public: void SetCloudAmbient(const ignition::math::Color &_ambient); | ||
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/// \brief Load the sky based on a element pointer. This is *not* the | ||
/// usual entry point. Typical usage of the SDF DOM is through the Root | ||
/// object. | ||
/// \param[in] _sdf The SDF Element pointer | ||
/// \return Errors, which is a vector of Error objects. Each Error includes | ||
/// an error code and message. An empty vector indicates no error. | ||
public: Errors Load(ElementPtr _sdf); | ||
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/// \brief Get a pointer to the SDF element that was used during | ||
/// load. | ||
/// \return SDF element pointer. The value will be nullptr if Load has | ||
/// not been called. | ||
public: sdf::ElementPtr Element() const; | ||
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/// \brief Private data pointer. | ||
private: SkyPrivate *dataPtr = nullptr; | ||
}; | ||
} | ||
} | ||
#endif |
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