Gazebo Rendering

API Reference

8.1.0
Marker.hh
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1/*
2 * Copyright (C) 2019 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 GZ_RENDERING_MARKER_HH_
18#define GZ_RENDERING_MARKER_HH_
19
20#include <gz/math/Color.hh>
21#include <gz/math/Vector3.hh>
22#include "gz/rendering/config.hh"
26
27namespace gz
28{
29 namespace rendering
30 {
31 inline namespace GZ_RENDERING_VERSION_NAMESPACE {
32 //
34 enum GZ_RENDERING_VISIBLE MarkerType
35 {
38
40 MT_BOX = 1,
41
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71 };
72
76 class GZ_RENDERING_VISIBLE Marker :
77 public virtual Geometry
78 {
79 protected: Marker();
80
82 public: virtual ~Marker();
83
86 public: virtual void SetLifetime(
87 const std::chrono::steady_clock::duration &_lifetime) = 0;
88
91 public: virtual std::chrono::steady_clock::duration Lifetime() const = 0;
92
95 public: virtual void SetLayer(int32_t _layer) = 0;
96
99 public: virtual int32_t Layer() const = 0;
100
103 public: virtual void SetType(
104 const gz::rendering::MarkerType _markerType) = 0;
105
108 public: virtual gz::rendering::MarkerType Type() const = 0;
109
113 public: virtual void SetSize(double _size) = 0;
114
118 public: virtual double Size() const = 0;
119
121 public: virtual void ClearPoints() = 0;
122
128 public: virtual void AddPoint(double _x,
129 double _y, double _z,
130 const gz::math::Color &_color) = 0;
131
135 public: virtual void AddPoint(const gz::math::Vector3d &_pt,
136 const gz::math::Color &_color) = 0;
137
141 public: virtual void SetPoint(unsigned int _index,
142 const gz::math::Vector3d &_value) = 0;
143 };
144 }
145 }
146}
147
148#endif