World.hh
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1/*
2 * Copyright 2017 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16 */
17#ifndef SDF_WORLD_HH_
18#define SDF_WORLD_HH_
19
20#include <memory>
21#include <optional>
22#include <string>
23#include <gz/math/SphericalCoordinates.hh>
24#include <gz/math/Vector3.hh>
25#include <gz/utils/ImplPtr.hh>
26
27#include "sdf/Atmosphere.hh"
28#include "sdf/Element.hh"
29#include "sdf/Gui.hh"
30#include "sdf/OutputConfig.hh"
31#include "sdf/ParserConfig.hh"
32#include "sdf/Plugin.hh"
33#include "sdf/Scene.hh"
34#include "sdf/Types.hh"
35#include "sdf/sdf_config.h"
36#include "sdf/system_util.hh"
37
38namespace sdf
39{
40 // Inline bracket to help doxygen filtering.
41 inline namespace SDF_VERSION_NAMESPACE {
42 //
43
44 // Forward declare private data class.
45 class Actor;
46 class Frame;
47 class InterfaceModel;
48 class Light;
49 class Model;
50 class ParserConfig;
51 class Physics;
52 class NestedInclude;
53 struct PoseRelativeToGraph;
54 struct FrameAttachedToGraph;
55 template <typename T> class ScopedGraph;
56
58 {
60 public: World();
61
68 public: Errors Load(ElementPtr _sdf);
69
77 public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
78
83 public: Errors ValidateGraphs() const;
84
87 public: std::string Name() const;
88
91 public: void SetName(const std::string &_name);
92
97 public: std::string AudioDevice() const;
98
103 public: void SetAudioDevice(const std::string &_device);
104
109 public: gz::math::Vector3d WindLinearVelocity() const;
110
115 public: void SetWindLinearVelocity(const gz::math::Vector3d &_wind);
116
122 public: gz::math::Vector3d Gravity() const;
123
127 public: void SetGravity(const gz::math::Vector3d &_gravity);
128
135 public: gz::math::Vector3d MagneticField() const;
136
143 public: void SetMagneticField(const gz::math::Vector3d &_mag);
144
147 public: const gz::math::SphericalCoordinates *
149
153 const gz::math::SphericalCoordinates &_coord);
154
160 public: uint64_t ModelCount() const;
161
168 public: const Model *ModelByIndex(const uint64_t _index) const;
169
176 public: Model *ModelByIndex(uint64_t _index);
177
185 public: const Model *ModelByName(const std::string &_name) const;
186
194 public: Model *ModelByName(const std::string &_name);
195
201 public: bool ModelNameExists(const std::string &_name) const;
202
207 public: bool AddModel(const Model &_model);
208
213 public: bool AddActor(const Actor &_actor);
214
219 public: bool AddLight(const Light &_light);
220
225 public: bool AddPhysics(const Physics &_physics);
226
231 public: bool AddFrame(const Frame &_frame);
232
234 public: void ClearModels();
235
237 public: void ClearActors();
238
240 public: void ClearLights();
241
243 public: void ClearPhysics();
244
246 public: void ClearFrames();
247
250 public: uint64_t ActorCount() const;
251
257 public: const Actor *ActorByIndex(const uint64_t _index) const;
258
264 public: Actor *ActorByIndex(uint64_t _index);
265
269 public: bool ActorNameExists(const std::string &_name) const;
270
276 public: uint64_t FrameCount() const;
277
285 public: const Frame *FrameByIndex(const uint64_t _index) const;
286
294 public: Frame *FrameByIndex(uint64_t _index);
295
302 public: const Frame *FrameByName(const std::string &_name) const;
303
310 public: Frame *FrameByName(const std::string &_name);
311
317 public: bool FrameNameExists(const std::string &_name) const;
318
321 public: uint64_t LightCount() const;
322
328 public: const Light *LightByIndex(const uint64_t _index) const;
329
335 public: Light *LightByIndex(uint64_t _index);
336
340 public: bool LightNameExists(const std::string &_name) const;
341
346 public: const sdf::Atmosphere *Atmosphere() const;
347
350 public: void SetAtmosphere(const sdf::Atmosphere &_atmosphere);
351
356 public: const sdf::Gui *Gui() const;
357
360 public: void SetGui(const sdf::Gui &_gui);
361
366 public: const sdf::Scene *Scene() const;
367
370 public: void SetScene(const sdf::Scene &_scene);
371
376 public: sdf::ElementPtr Element() const;
377
380 public: uint64_t PhysicsCount() const;
381
388 public: const Physics *PhysicsByIndex(const uint64_t _index) const;
389
396 public: Physics *PhysicsByIndex(uint64_t _index);
397
400 public: const Physics *PhysicsDefault() const;
401
405 public: bool PhysicsNameExists(const std::string &_name) const;
406
411 public: uint64_t InterfaceModelCount() const;
412
419 public: std::shared_ptr<const InterfaceModel> InterfaceModelByIndex(
420 const uint64_t _index) const;
421
430 const uint64_t _index) const;
431
439 const OutputConfig &_config = OutputConfig::GlobalConfig()) const;
440
444 public: const sdf::Plugins &Plugins() const;
445
450
452 public: void ClearPlugins();
453
456 public: void AddPlugin(const Plugin &_plugin);
457
462 private: void SetPoseRelativeToGraph(
464
469 private: void SetFrameAttachedToGraph(
471
474 friend class Root;
475
477 IGN_UTILS_IMPL_PTR(dataPtr)
478 };
479 }
480}
481#endif
Provides a description of an actor.
Definition: Actor.hh:192
The Atmosphere class contains information about an atmospheric model and related parameters such as t...
Definition: Atmosphere.hh:46
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition: Frame.hh:43
Definition: Gui.hh:32
Provides a description of a light source.
Definition: Light.hh:64
Definition: Model.hh:55
Contains the necessary information about an included model file for custom model parsers to be able t...
Definition: InterfaceElements.hh:45
This class contains configuration options for SDF output.
Definition: OutputConfig.hh:59
static OutputConfig & GlobalConfig()
Mutable access to a singleton OutputConfig that serves as the global OutputConfig object for all pars...
This class contains configuration options for the libsdformat parser.
Definition: ParserConfig.hh:85
The physics element specifies the type and properties of a dynamics engine.
Definition: Physics.hh:37
Definition: Plugin.hh:46
Root class that acts as an entry point to the SDF document model.
Definition: Root.hh:57
Definition: Scene.hh:34
Definition: Collision.hh:39
Definition: World.hh:58
Physics * PhysicsByIndex(uint64_t _index)
Get a mutable physics profile based on an index.
void ClearPlugins()
Remove all plugins.
const sdf::Atmosphere * Atmosphere() const
Get a pointer to the atmosphere model associated with this world.
const NestedInclude * InterfaceModelNestedIncludeByIndex(const uint64_t _index) const
Get the nested include information of an immediate (not recursively nested) child interface model bas...
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
void SetAudioDevice(const std::string &_device)
Set the audio device name.
sdf::Plugins & Plugins()
Get a mutable vector of plugins attached to this object.
bool LightNameExists(const std::string &_name) const
Get whether a light name exists.
const Physics * PhysicsByIndex(const uint64_t _index) const
Get a physics profile based on an index.
bool ModelNameExists(const std::string &_name) const
Get whether a model name exists.
const Frame * FrameByName(const std::string &_name) const
Get an explicit frame based on a name.
const Frame * FrameByIndex(const uint64_t _index) const
Get an immediate (not nested) child explicit frame based on an index.
bool AddModel(const Model &_model)
Add a model to the world.
void ClearPhysics()
Remove all physics.
std::shared_ptr< const InterfaceModel > InterfaceModelByIndex(const uint64_t _index) const
Get an immediate (not recursively nested) child interface model based on an index.
void SetName(const std::string &_name)
Set the name of the world.
void ClearFrames()
Remove all frames.
bool AddLight(const Light &_light)
Add a light to the world.
uint64_t LightCount() const
Get the number of lights.
void AddPlugin(const Plugin &_plugin)
Add a plugin to this object.
gz::math::Vector3d MagneticField() const
Get the magnetic vector in Tesla, expressed in a coordinate frame defined by the SphericalCoordinates...
void SetGravity(const gz::math::Vector3d &_gravity)
Set the acceleration due to gravity.
void SetWindLinearVelocity(const gz::math::Vector3d &_wind)
Set the wind linear velocity in the global/world coordinate frame.
Errors ValidateGraphs() const
Check that the FrameAttachedToGraph and PoseRelativeToGraph are valid.
const sdf::Gui * Gui() const
Get a pointer to the Gui associated with this world.
uint64_t PhysicsCount() const
Get the number of physics profiles.
Frame * FrameByName(const std::string &_name)
Get a mutable explicit frame based on a name.
bool AddPhysics(const Physics &_physics)
Add a physics object to the world.
const Actor * ActorByIndex(const uint64_t _index) const
Get an actor based on an index.
uint64_t ModelCount() const
Get the number of models that are immediate (not nested) children of this World object.
const sdf::Scene * Scene() const
Get a pointer to the Scene associated with this world.
bool PhysicsNameExists(const std::string &_name) const
Get whether a physics profile name exists.
void ClearActors()
Remove all models.
World()
Default constructor.
const Model * ModelByName(const std::string &_name) const
Get a model based on a name.
Model * ModelByIndex(uint64_t _index)
Get an immediate (not recursively nested) mutable child model based on an index.
void SetGui(const sdf::Gui &_gui)
Set the Gui parameters associated with this world.
Frame * FrameByIndex(uint64_t _index)
Get a mutable immediate (not nested) child explicit frame based on an index.
Errors Load(ElementPtr _sdf)
Load the world based on a element pointer.
Light * LightByIndex(uint64_t _index)
Get a mutable light based on an index.
const Light * LightByIndex(const uint64_t _index) const
Get a light based on an index.
uint64_t FrameCount() const
Get the number of explicit frames that are immediate (not nested) children of this World object.
void SetScene(const sdf::Scene &_scene)
Set the Scene parameters associated with this world.
void SetMagneticField(const gz::math::Vector3d &_mag)
Set the magnetic vector in Tesla, expressed in a coordinate frame defined by the SphericalCoordinate.
bool AddActor(const Actor &_actor)
Add an actor to the world.
bool ActorNameExists(const std::string &_name) const
Get whether an actor name exists.
gz::math::Vector3d Gravity() const
Get the acceleration due to gravity.
void ClearLights()
Remove all models.
Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config)
Load the world based on a element pointer.
uint64_t InterfaceModelCount() const
Get the number of nested interface models that are immediate (not recursively nested) children of thi...
void SetAtmosphere(const sdf::Atmosphere &_atmosphere)
Set the atmosphere model associated with this world.
bool FrameNameExists(const std::string &_name) const
Get whether an explicit frame name exists.
const sdf::Plugins & Plugins() const
Get the plugins attached to this object.
sdf::ElementPtr ToElement(const OutputConfig &_config=OutputConfig::GlobalConfig()) const
Create and return an SDF element filled with data from this world.
gz::math::Vector3d WindLinearVelocity() const
Get the wind linear velocity in the global/world coordinate frame.
std::string Name() const
Get the name of the world.
Model * ModelByName(const std::string &_name)
Get a mutable model based on a name.
bool AddFrame(const Frame &_frame)
Add a frame object to the world.
const Physics * PhysicsDefault() const
Get the default physics profile.
void SetSphericalCoordinates(const gz::math::SphericalCoordinates &_coord)
Set the spherical coordinates for the world origin.
uint64_t ActorCount() const
Get the number of actors.
const Model * ModelByIndex(const uint64_t _index) const
Get an immediate (not recursively nested) child model based on an index.
const gz::math::SphericalCoordinates * SphericalCoordinates() const
Get the spherical coordinates for the world origin.
std::string AudioDevice() const
Get the audio device name.
Actor * ActorByIndex(uint64_t _index)
Get a mutable actor based on an index.
void ClearModels()
Remove all models.
std::vector< Plugin > Plugins
A vector of Plugin.
Definition: Plugin.hh:196
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
namespace for Simulation Description Format parser
Definition: Actor.hh:35
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:25