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World.hh
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World.hh
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/*
* Copyright 2017 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 SDF_WORLD_HH_
#define SDF_WORLD_HH_
#include <string>
#include <ignition/math/Vector3.hh>
#include "sdf/Atmosphere.hh"
#include "sdf/Element.hh"
#include "sdf/Gui.hh"
#include "sdf/Scene.hh"
#include "sdf/Types.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"
namespace sdf
{
// Inline bracket to help doxygen filtering.
inline namespace SDF_VERSION_NAMESPACE {
//
// Forward declare private data class.
class Actor;
class Frame;
class Light;
class Model;
class Physics;
class WorldPrivate;
class SDFORMAT_VISIBLE World
{
/// \brief Default constructor
public: World();
/// \brief Copy constructor
/// \param[in] _world World to copy.
public: World(const World &_world);
/// \brief Move constructor
/// \param[in] _world World to move.
public: World(World &&_world) noexcept;
/// \brief Move assignment operator.
/// \param[in] _world World to move.
/// \return Reference to this.
public: World &operator=(World &&_world);
/// \brief Copy assignment operator.
/// \param[in] _world World to copy.
/// \return Reference to this.
public: World &operator=(const World &_world);
/// \brief Destructor
public: ~World();
/// \brief Load the world 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);
/// \brief Get the name of the world.
/// \return Name of the world.
public: std::string Name() const;
/// \brief Set the name of the world.
/// \param[in] _name Name of the world.
public: void SetName(const std::string &_name) const;
/// \brief Get the audio device name. The audio device can be used to
/// playback audio files. A value of "default" or an empty string
/// indicates that the system's default audio device should be used.
/// \return Audio device name.
public: std::string AudioDevice() const;
/// \brief Set the audio device name. See std::string AudioDevice() const
/// for more information.
/// \param[in] _device The new audio device name.
/// \sa std::string AudioDevice() const
public: void SetAudioDevice(const std::string &_device);
/// \brief Get the wind linear velocity in the global/world coordinate
/// frame. Units are meters per second \f$(\frac{m}{s})\f$
/// \return Linear velocity of wind in the global/world coordinate frame.
/// \sa void SetWindLinearVelocity(const ignition::math::Vector3d &_wind)
public: ignition::math::Vector3d WindLinearVelocity() const;
/// \brief Set the wind linear velocity in the global/world coordinate
/// frame. Units are meters per second \f$(\frac{m}{s})\f$
/// \param[in] _wind The new linear velocity of wind.
/// \sa ignition::math::Vector3d WindLinearVelocity() const
public: void SetWindLinearVelocity(const ignition::math::Vector3d &_wind);
/// \brief Get the acceleration due to gravity. The default value is
/// Earth's standard gravity at sea level, which equals
/// [0, 0, -9.80665] \f$(\frac{m}{s^2})\f$
/// \return Gravity vector in meters per second squared
/// \f$(\frac{m}{s^2})\f$
public: ignition::math::Vector3d Gravity() const;
/// \brief Set the acceleration due to gravity. Units are meters per
/// second squared \f$(\frac{m}{s^2})\f$
/// \param[in] _gravity The new gravity vector.
public: void SetGravity(const ignition::math::Vector3d &_gravity);
/// \brief Get the magnetic vector in Tesla, expressed in
/// a coordinate frame defined by the SphericalCoordinates property.
/// A spherical coordinate can be specified in SDF using the
/// <spherical_coordinates> element.
/// \return Magnetic field vector.
/// \sa SphericalCoordinates
public: ignition::math::Vector3d MagneticField() const;
/// \brief Set the magnetic vector in Tesla, expressed in
/// a coordinate frame defined by the SphericalCoordinate.
/// A spherical coordinate can be specified in SDF using the
/// <spherical_coordinates> element.
/// \param[in] _mag The new magnetic field vector.
/// \sa SphericalCoordinates
public: void SetMagneticField(const ignition::math::Vector3d &_mag);
/// \brief Get the number of models that are immediate (not nested) children
/// of this World object.
/// \remark ModelByName() and ModelNameExists() can find nested models that
/// are not immediate children of this World object.
/// \return Number of models contained in this World object.
public: uint64_t ModelCount() const;
/// \brief Get an immediate (not nested) child model based on an index.
/// \param[in] _index Index of the model. The index should be in the
/// range [0..ModelCount()).
/// \return Pointer to the model. Nullptr if the index does not exist.
/// \sa uint64_t ModelCount() const
public: const Model *ModelByIndex(const uint64_t _index) const;
/// \brief Get a model based on a name.
/// \param[in] _name Name of the model.
/// To get a model nested in other models, prefix the model name
/// with the sequence of nested model names, delimited by "::".
/// \return Pointer to the model. Nullptr if the name does not exist.
public: const Model *ModelByName(const std::string &_name) const;
/// \brief Get whether a model name exists.
/// \param[in] _name Name of the model to check.
/// \return True if there exists a model with the given name.
public: bool ModelNameExists(const std::string &_name) const;
/// \brief Get the number of actors.
/// \return Number of actors contained in this World object.
public: uint64_t ActorCount() const;
/// \brief Get an actor based on an index.
/// \param[in] _index Index of the actor. The index should be in the
/// range [0..ActorCount()).
/// \return Pointer to the actor. Nullptr if the index does not exist.
/// \sa uint64_t ActorCount() const
public: const Actor *ActorByIndex(const uint64_t _index) const;
/// \brief Get whether an actor name exists.
/// \param[in] _name Name of the actor to check.
/// \return True if there exists an actor with the given name.
public: bool ActorNameExists(const std::string &_name) const;
/// \brief Get the number of explicit frames that are immediate (not nested)
/// children of this World object.
/// \remark FrameByName() can find explicit frames that are not immediate
/// children of this World object.
/// \return Number of explicit frames contained in this World object.
public: uint64_t FrameCount() const;
/// \brief Get an immediate (not nested) child explicit frame based on an
/// index.
/// \param[in] _index Index of the explicit frame. The index should be in
/// the range [0..FrameCount()).
/// \return Pointer to the explicit frame. Nullptr if the index does not
/// exist.
/// \sa uint64_t FrameCount() const
public: const Frame *FrameByIndex(const uint64_t _index) const;
/// \brief Get an explicit frame based on a name.
/// \param[in] _name Name of the explicit frame.
/// To get a frame in a nested model, prefix the frame name with the
/// sequence of nested models containing this frame, delimited by "::".
/// \return Pointer to the explicit frame. Nullptr if the name does not
/// exist.
public: const Frame *FrameByName(const std::string &_name) const;
/// \brief Get whether an explicit frame name exists.
/// \param[in] _name Name of the explicit frame to check.
/// \return True if there exists an explicit frame with the given name.
public: bool FrameNameExists(const std::string &_name) const;
/// \brief Get the number of lights.
/// \return Number of lights contained in this World object.
public: uint64_t LightCount() const;
/// \brief Get a light based on an index.
/// \param[in] _index Index of the light. The index should be in the
/// range [0..LightCount()).
/// \return Pointer to the light. Nullptr if the index does not exist.
/// \sa uint64_t LightCount() const
public: const Light *LightByIndex(const uint64_t _index) const;
/// \brief Get whether a light name exists.
/// \param[in] _name Name of the light to check.
/// \return True if there exists a light with the given name.
public: bool LightNameExists(const std::string &_name) const;
/// \brief Get a pointer to the atmosphere model associated with this
/// world. A nullptr indicates that an atmosphere model has not been set.
/// \return Pointer to this world's atmosphere model. Nullptr inidicates
/// that there is no atmosphere model.
public: const sdf::Atmosphere *Atmosphere() const;
/// \brief Set the atmosphere model associated with this world.
/// \param[in] _atmosphere The new atmosphere model for this world.
public: void SetAtmosphere(const sdf::Atmosphere &_atmosphere) const;
/// \brief Get a pointer to the Gui associated with this
/// world. A nullptr indicates that a Gui element has not been specified.
/// \return Pointer to this world's Gui parameters. Nullptr inidicates
/// that there are no Gui parameters.
public: sdf::Gui *Gui() const;
/// \brief Set the Gui parameters associated with this world.
/// \param[in] _gui The new Gui parameter for this world
public: void SetGui(const sdf::Gui &_gui);
/// \brief Get a pointer to the Scene associated with this
/// world. A nullptr indicates that a Scene element has not been specified.
/// \return Pointer to this world's Scene parameters. Nullptr inidicates
/// that there are no Scene parameters.
public: const sdf::Scene *Scene() const;
/// \brief Set the Scene parameters associated with this world.
/// \param[in] _gui The new Scene parameter for this world
public: void SetScene(const sdf::Scene &_scene);
/// \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;
/// \brief Get the number of physics profiles.
/// \return Number of physics profiles contained in this World object.
public: uint64_t PhysicsCount() const;
/// \brief Get a physics profile based on an index.
/// \param[in] _index Index of the physics profile.
/// The index should be in the range [0..PhysicsCount()).
/// \return Pointer to the physics profile. Nullptr if the index does not
/// exist.
///// \sa uint64_t PhysicsCount() const
public: const Physics *PhysicsByIndex(const uint64_t _index) const;
/// \brief Get the default physics profile.
/// \return Pointer to the default physics profile.
public: const Physics *PhysicsDefault() const;
/// \brief Get whether a physics profile name exists.
/// \param[in] _name Name of the physics profile to check.
/// \return True if there exists a physics profile with the given name.
public: bool PhysicsNameExists(const std::string &_name) const;
/// \brief Private data pointer.
private: WorldPrivate *dataPtr = nullptr;
};
}
}
#endif