120 lines
3.2 KiB
C++
120 lines
3.2 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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#include "gazebo/physics/Light.hh"
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#include "gazebo/physics/LightState.hh"
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using namespace gazebo;
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using namespace physics;
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/////////////////////////////////////////////////
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LightState::LightState(const LightPtr _light, const common::Time &_realTime,
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const common::Time &_simTime, const uint64_t _iterations)
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: State(_light->GetName(), _realTime, _simTime, _iterations)
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{
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this->pose = _light->GetWorldPose().Ign();
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}
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/////////////////////////////////////////////////
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LightState::LightState(const sdf::ElementPtr _sdf)
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: State()
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{
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this->Load(_sdf);
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}
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/////////////////////////////////////////////////
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void LightState::Load(const sdf::ElementPtr _elem)
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{
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// Set the name
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this->name = _elem->Get<std::string>("name");
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// Set the light pose
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if (_elem->HasElement("pose"))
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this->pose = _elem->Get<ignition::math::Pose3d>("pose");
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else
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this->pose.Set(0, 0, 0, 0, 0, 0);
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}
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/////////////////////////////////////////////////
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void LightState::Load(const LightPtr _light, const common::Time &_realTime,
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const common::Time &_simTime, const uint64_t _iterations)
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{
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this->name = _light->GetName();
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this->wallTime = common::Time::GetWallTime();
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this->realTime = _realTime;
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this->simTime = _simTime;
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this->iterations = _iterations;
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this->pose = _light->GetWorldPose().Ign();
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}
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/////////////////////////////////////////////////
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const ignition::math::Pose3d LightState::Pose() const
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{
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return this->pose;
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}
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/////////////////////////////////////////////////
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bool LightState::IsZero() const
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{
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return this->pose == ignition::math::Pose3d::Zero;
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}
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/////////////////////////////////////////////////
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LightState &LightState::operator=(const LightState &_state)
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{
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State::operator=(_state);
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// Copy the pose
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this->pose = _state.pose;
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return *this;
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}
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/////////////////////////////////////////////////
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LightState LightState::operator-(const LightState &_state) const
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{
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LightState result;
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result.name = this->name;
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result.pose.Pos() = this->pose.Pos() - _state.pose.Pos();
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result.pose.Rot() = _state.pose.Rot().Inverse() * this->pose.Rot();
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return result;
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}
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/////////////////////////////////////////////////
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LightState LightState::operator+(const LightState &_state) const
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{
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LightState result;
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result.name = this->name;
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result.pose.Pos() = this->pose.Pos() + _state.pose.Pos();
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result.pose.Rot() = _state.pose.Rot() * this->pose.Rot();
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return result;
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}
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/////////////////////////////////////////////////
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void LightState::FillSDF(sdf::ElementPtr _sdf)
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{
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_sdf->ClearElements();
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_sdf->GetAttribute("name")->Set(this->name);
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_sdf->GetElement("pose")->Set(this->pose);
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}
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