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18 #ifndef GAZEBO_PHYSICS_LIGHT_HH_
19 #define GAZEBO_PHYSICS_LIGHT_HH_
42 public:
virtual ~
Light();
46 public:
void Load(sdf::ElementPtr _sdf)
override;
49 public:
void Init()
override;
53 public:
void ProcessMsg(
const msgs::Light &_msg);
57 public:
void FillMsg(msgs::Light &_msg);
61 public:
void SetState(
const LightState &_state);
64 public:
void OnPoseChange()
override;
67 private:
void PublishPose()
override;
72 public:
void SetWorldPoseDirty();
75 public:
virtual const ignition::math::Pose3d &WorldPose()
const override;
78 public: std::optional<sdf::SemanticPose> SDFSemanticPose()
const override;
81 private: std::unique_ptr<LightPrivate> dataPtr;
void OnPoseChange() override
This function is called when the entity's (or one of its parents) pose of the parent has changed.
void Load(sdf::ElementPtr _sdf) override
Load the light.
Forward declarations for the common classes.
Definition: Animation.hh:26
Light(BasePtr _parent)
Constructor.
virtual const ignition::math::Pose3d & WorldPose() const override
Get the absolute pose of the entity.
Store state information of a Light object.
Definition: LightState.hh:38
void FillMsg(msgs::Light &_msg)
Fill a light message with this light's parameters.
std::optional< sdf::SemanticPose > SDFSemanticPose() const override
Get the SDF SemanticPose object associated with the pose of this object.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:78
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Base class for all physics objects in Gazebo.
Definition: Entity.hh:52
A light entity.
Definition: physics/Light.hh:35
void ProcessMsg(const msgs::Light &_msg)
Update this light's parameters from a message.
void SetWorldPoseDirty()
Indicate that the world pose should be recalculated.
void Init() override
Initialize the light.
void SetState(const LightState &_state)
Set the current light state.
virtual ~Light()
Destructor.