136 lines
4.5 KiB
C++
136 lines
4.5 KiB
C++
/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_LIGHT_STATE_HH_
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#define _GAZEBO_LIGHT_STATE_HH_
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#include <iomanip>
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#include "gazebo/physics/State.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// \addtogroup gazebo_physics
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/// \{
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/// \class LightState LightState.hh physics/physics.hh
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/// \brief Store state information of a Light object
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///
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/// This class captures the entire state of a Light at one
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/// specific time during a simulation run.
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class GZ_PHYSICS_VISIBLE LightState : public State
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{
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/// \brief Default constructor.
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public: LightState() = default;
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/// \brief Constructor.
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///
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/// Build a LightState from an existing Light.
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/// \param[in] _light Pointer to the light from which to gather state
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/// info.
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/// \param[in] _realTime Real time stamp.
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/// \param[in] _simTime Sim time stamp.
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/// \param[in] _iterations Simulation iterations.
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public: LightState(const LightPtr _light, const common::Time &_realTime,
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const common::Time &_simTime, const uint64_t _iterations);
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/// \brief Constructor
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///
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/// Build a LightState from SDF data
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/// \param[in] _sdf SDF data to load a light state from.
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public: explicit LightState(const sdf::ElementPtr _sdf);
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/// \brief Load state from SDF element.
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///
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/// Load LightState information from stored data in and SDF::Element
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/// \param[in] _elem Pointer to the SDF::Element containing state info.
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public: virtual void Load(const sdf::ElementPtr _elem);
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/// \brief Load state from Light pointer.
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///
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/// Build a LightState from an existing Light.
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/// \param[in] _light Pointer to the light from which to gather state
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/// info.
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/// \param[in] _realTime Real time stamp.
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/// \param[in] _simTime Sim time stamp.
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/// \param[in] _iterations Simulation iterations.
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public: void Load(const LightPtr _light, const common::Time &_realTime,
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const common::Time &_simTime, const uint64_t _iterations);
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/// \brief Get the stored light pose.
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/// \return Pose of the Light.
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public: const ignition::math::Pose3d Pose() const;
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/// \brief Return true if the values in the state are zero.
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/// \return True if the values in the state are zero.
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public: bool IsZero() const;
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/// \brief Populate a state SDF element with data from the object.
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/// \param[out] _sdf SDF element to populate.
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public: void FillSDF(sdf::ElementPtr _sdf);
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/// \brief Assignment operator
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/// \param[in] _state State value
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/// \return this
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public: LightState &operator=(const LightState &_state);
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/// \brief Subtraction operator.
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/// \param[in] _pt A state to substract.
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/// \return The resulting state.
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public: LightState operator-(const LightState &_state) const;
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/// \brief Addition operator.
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/// \param[in] _pt A state to substract.
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/// \return The resulting state.
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public: LightState operator+(const LightState &_state) const;
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/// \brief Stream insertion operator.
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/// \param[in] _out output stream.
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/// \param[in] _state Light state to output.
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/// \return The stream.
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public: inline friend std::ostream &operator<<(std::ostream &_out,
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const gazebo::physics::LightState &_state)
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{
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ignition::math::Vector3d q(_state.pose.Rot().Euler());
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_out << std::fixed <<std::setprecision(3)
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<< "<light name='" << _state.GetName() << "'>"
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<< "<pose>"
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<< _state.pose.Pos().X() << " "
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<< _state.pose.Pos().Y() << " "
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<< _state.pose.Pos().Z() << " "
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<< q.X() << " "
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<< q.Y() << " "
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<< q.Z() << " "
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<< "</pose>";
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_out << "</light>";
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return _out;
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}
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/// \brief Pose of the light.
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private: ignition::math::Pose3d pose;
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};
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/// \}
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}
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}
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#endif
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