76 lines
2.1 KiB
C++
76 lines
2.1 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_PHYSICS_LIGHT_HH_
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#define _GAZEBO_PHYSICS_LIGHT_HH_
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#include "gazebo/physics/Entity.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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class LightState;
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/// \addtogroup gazebo_physics
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/// \{
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/// \brief A light entity.
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class GZ_PHYSICS_VISIBLE Light : public Entity
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{
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/// \brief Constructor.
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/// \param[in] _parent Parent object.
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public: Light(BasePtr _parent);
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/// \brief Initialize the light.
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public: void Init();
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/// \brief Update this light's parameters from a message.
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/// \param[in] _msg Message to process.
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public: void ProcessMsg(const msgs::Light &_msg);
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/// \brief Fill a light message with this light's parameters.
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/// \param[out] _msg Message to fill using this light's data.
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public: void FillMsg(msgs::Light &_msg);
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/// \brief Set the current light state.
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/// \param[in] _state State to set the light to.
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public: void SetState(const LightState &_state);
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// Documentation inherited
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public: void OnPoseChange();
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/// \brief Publish the pose.
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private: void PublishPose();
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/// \brief Light message container.
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private: msgs::Light msg;
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/// \brief Indicate that the world pose should be recalculated.
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/// The recalculation will be done when Light::GetWorldPose is
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/// called.
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public: void SetWorldPoseDirty();
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// Documentation inherited.
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public: virtual const math::Pose &GetWorldPose() const;
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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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