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21 #include <ignition/math/Vector3.hh>
28 #include "sdf/sdf_config.h"
34 inline namespace SDF_VERSION_NAMESPACE {
81 public: std::string
Name()
const;
85 public:
void SetName(
const std::string &_name)
const;
116 public: ignition::math::Vector3d
Gravity()
const;
121 public:
void SetGravity(
const ignition::math::Vector3d &_gravity);
273 private: WorldPrivate *dataPtr =
nullptr;
World & operator=(const World &_world)
Copy assignment operator.
const Model * ModelByName(const std::string &_name) const
Get a model based on a name.
World(const World &_world)
Copy constructor.
const Frame * FrameByName(const std::string &_name) const
Get an explicit frame based on a name.
const Physics * PhysicsDefault() const
Get the default physics profile.
ignition::math::Vector3d Gravity() const
Get the acceleration due to gravity.
std::string Name() const
Get the name of the world.
bool PhysicsNameExists(const std::string &_name) const
Get whether a physics profile name exists.
namespace for Simulation Description Format parser
Definition: Actor.hh:33
Errors Load(ElementPtr _sdf)
Load the world based on a element pointer.
void SetAtmosphere(const sdf::Atmosphere &_atmosphere) const
Set the atmosphere model associated with this world.
bool ActorNameExists(const std::string &_name) const
Get whether an actor name exists.
ignition::math::Vector3d WindLinearVelocity() const
Get the wind linear velocity in the global/world coordinate frame.
uint64_t FrameCount() const
Get the number of explicit frames.
bool FrameNameExists(const std::string &_name) const
Get whether an explicit frame name exists.
void SetScene(const sdf::Scene &_scene)
Set the Scene parameters associated with this world.
const Light * LightByIndex(const uint64_t _index) const
Get a light based on an index.
void SetGravity(const ignition::math::Vector3d &_gravity)
Set the acceleration due to gravity.
bool ModelNameExists(const std::string &_name) const
Get whether a model name exists.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
const sdf::Atmosphere * Atmosphere() const
Get a pointer to the atmosphere model associated with this world.
sdf::Gui * Gui() const
Get a pointer to the Gui associated with this world.
const Physics * PhysicsByIndex(const uint64_t _index) const
Get a physics profile based on an index.
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
uint64_t ActorCount() const
Get the number of actors.
void SetAudioDevice(const std::string &_device)
Set the audio device name.
void SetGui(const sdf::Gui &_gui)
Set the Gui parameters associated with this world.
void SetName(const std::string &_name) const
Set the name of the world.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
const sdf::Scene * Scene() const
Get a pointer to the Scene associated with this world.
Provides a description of a light source.
Definition: Light.hh:63
void SetWindLinearVelocity(const ignition::math::Vector3d &_wind)
Set the wind linear velocity in the global/world coordinate frame.
const Model * ModelByIndex(const uint64_t _index) const
Get a model based on an index.
void SetMagneticField(const ignition::math::Vector3d &_mag)
Set the magnetic vector in Tesla, expressed in a coordinate frame defined by the SphericalCoordinate.
A Frame element descibes the properties associated with an explicit frame defined in a Model or World...
Definition: Frame.hh:42
uint64_t LightCount() const
Get the number of lights.
World & operator=(World &&_world)
Move assignment operator.
The physics element specifies the type and properties of a dynamics engine.
Definition: Physics.hh:39
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
Provides a description of an actor.
Definition: Actor.hh:278
World()
Default constructor.
World(World &&_world) noexcept
Move constructor.
ignition::math::Vector3d MagneticField() const
Get the magnetic vector in Tesla, expressed in a coordinate frame defined by the SphericalCoordinates...
bool LightNameExists(const std::string &_name) const
Get whether a light name exists.
uint64_t ModelCount() const
Get the number of models.
std::string AudioDevice() const
Get the audio device name.
The Atmosphere class contains information about an atmospheric model and related parameters such as t...
Definition: Atmosphere.hh:47
uint64_t PhysicsCount() const
Get the number of physics profiles.
const Frame * FrameByIndex(const uint64_t _index) const
Get an explicit frame based on an index.
const Actor * ActorByIndex(const uint64_t _index) const
Get an actor based on an index.