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| Original file line number | Diff line number | Diff line change |
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| /* | ||
| * Copyright (C) 2022 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
|
|
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| #include "pyLight.hh" | ||
|
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| #include <pybind11/pybind11.h> | ||
|
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| #include "sdf/ParserConfig.hh" | ||
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| #include "sdf/Box.hh" | ||
| #include "sdf/Capsule.hh" | ||
| #include "sdf/Cylinder.hh" | ||
| #include "sdf/Ellipsoid.hh" | ||
| #include "sdf/Light.hh" | ||
| #include "sdf/Mesh.hh" | ||
| #include "sdf/Plane.hh" | ||
| #include "sdf/Sphere.hh" | ||
|
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| using namespace pybind11::literals; | ||
|
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| namespace sdf | ||
| { | ||
| // Inline bracket to help doxygen filtering. | ||
| inline namespace SDF_VERSION_NAMESPACE { | ||
| namespace python | ||
| { | ||
| ///////////////////////////////////////////////// | ||
| void defineLight(pybind11::object module) | ||
| { | ||
| pybind11::class_<sdf::Light> lightModule(module, "Light"); | ||
| lightModule | ||
| .def(pybind11::init<>()) | ||
| .def(pybind11::init<sdf::Light>()) | ||
| .def("type", &sdf::Light::Type, | ||
| "Get the type of light.") | ||
| .def("set_type", &sdf::Light::SetType, | ||
| "Set the type of light.") | ||
| .def("name", &sdf::Light::Name, | ||
| "Get the name of the light.") | ||
| .def("set_name", &sdf::Light::SetName, | ||
| "Set the name of the light.") | ||
| .def("raw_pose", &sdf::Light::RawPose, | ||
| "Get the pose of the camer. This is the pose of the Light " | ||
| "as specified in SDF (<light> <pose> ... </pose></light>).") | ||
| .def("set_raw_pose", &sdf::Light::SetRawPose, | ||
| "Set the pose of the Light.") | ||
| .def("pose_relative_to", &sdf::Light::PoseRelativeTo, | ||
| "Get the name of the coordinate frame relative to which this " | ||
| "object's pose is expressed. An empty value indicates that the frame " | ||
| "is relative to the parent link.") | ||
| .def("set_pose_relative_to", &sdf::Light::SetPoseRelativeTo, | ||
| "Set the name of the coordinate frame relative to which this " | ||
| "object's pose is expressed. An empty value indicates that the frame " | ||
| "is relative to the parent link.") | ||
| .def("semantic_pose", &sdf::Light::SemanticPose, | ||
| "Get SemanticPose object of this object to aid in resolving " | ||
| "poses.") | ||
| .def("cast_shadows", &sdf::Light::CastShadows, | ||
| "Get whether the light casts shadows.") | ||
| .def("set_cast_shadows", &sdf::Light::SetCastShadows, | ||
| "Set whether the light casts shadows.") | ||
| .def("light_on", &sdf::Light::LightOn, | ||
| "Get if the light is on") | ||
| .def("set_light_on", &sdf::Light::SetLightOn, | ||
| "Set if the light is ON/OFF") | ||
| .def("visualize", &sdf::Light::Visualize, | ||
| "Whether light visualization in the GUI is enabled.") | ||
| .def("set_visualize", &sdf::Light::SetVisualize, | ||
| "Set whether light visualization in the GUI is enabled.") | ||
| .def("intensity", &sdf::Light::Intensity, | ||
| "Get the light intensity") | ||
| .def("set_intensity", &sdf::Light::SetIntensity, | ||
| "Set the light intensity") | ||
| .def("diffuse", &sdf::Light::Diffuse, | ||
| "Get the diffuse color. The diffuse color is " | ||
| "specified by a set of three numbers representing red/green/blue, " | ||
| "each in the range of [0,1].") | ||
| .def("set_diffuse", &sdf::Light::SetDiffuse, | ||
| "Set the diffuse color. The diffuse color is " | ||
| "specified by a set of three numbers representing red/green/blue, " | ||
| "each in the range of [0,1].") | ||
| .def("specular", &sdf::Light::Specular, | ||
| "Get the specular color. The specular color is " | ||
| "specified by a set of three numbers representing red/green/blue, " | ||
| "each in the range of [0,1].") | ||
| .def("set_specular", &sdf::Light::SetSpecular, | ||
| "Set the specular color. The specular color is " | ||
| "specified by a set of three numbers representing red/green/blue, " | ||
| "each in the range of [0,1].") | ||
| .def("attenuation_range", &sdf::Light::AttenuationRange, | ||
| "Get the range of the light source in meters.") | ||
| .def("set_attenuation_range", &sdf::Light::SetAttenuationRange, | ||
| "Set the range of the light source in meters.") | ||
| .def("linear_attenuation_factor", &sdf::Light::LinearAttenuationFactor, | ||
| "Get the linear attenuation factor. This value is clamped to " | ||
| "a value between 0 and 1, where 1 means attenuate evenly over the " | ||
| "distance.") | ||
| .def("set_linear_attenuation_factor", | ||
| &sdf::Light::SetLinearAttenuationFactor, | ||
| "Set the linear attenuation factor. This value is clamped to " | ||
| "a value between 0 and 1, where 1 means attenuate evenly over the " | ||
| "distance.") | ||
| .def("constant_attenuation_factor", &sdf::Light::ConstantAttenuationFactor, | ||
| "Get the constant attenuation factor. This value is clamped to " | ||
| "a value between 0 and 1, where 1.0 means never attenuate and 0.0 is " | ||
| "complete attenutation.") | ||
| .def("set_constant_attenuation_factor", | ||
| &sdf::Light::SetConstantAttenuationFactor, | ||
| "Get the constant attenuation factor. This value is clamped to " | ||
| "a value between 0 and 1, where 1.0 means never attenuate and 0.0 is " | ||
| "complete attenutation.") | ||
| .def("quadratic_attenuation_factor", &sdf::Light::QuadraticAttenuationFactor, | ||
| "Get the quadratic attenuation factor which adds a curvature to " | ||
| "the attenuation.") | ||
| .def("set_quadratic_attenuation_factor", | ||
| &sdf::Light::SetQuadraticAttenuationFactor, | ||
| "Set the quadratic attenuation factor which adds a curvature to " | ||
| "the attenuation.") | ||
| .def("direction", &sdf::Light::Direction, | ||
| "Get the direction of the light source. This only has meaning " | ||
| "for spot and directional light types. The default value is " | ||
| "[0, 0, -1].") | ||
| .def("set_direction", &sdf::Light::SetDirection, | ||
| "Set the direction of the light source. This only has meaning " | ||
| "for spot and directional light types.") | ||
| .def("spot_inner_angle", &sdf::Light::SpotInnerAngle, | ||
| "Get the angle covered by the bright inner cone.") | ||
| .def("set_spot_inner_angle", &sdf::Light::SetSpotInnerAngle, | ||
| "Set the angle covered by the bright inner cone.") | ||
| .def("spot_outer_angle", &sdf::Light::SpotOuterAngle, | ||
| "Get the angle covered by the outer cone.") | ||
| .def("set_spot_outer_angle", &sdf::Light::SetSpotOuterAngle, | ||
| "Set the angle covered by the bright inner cone.") | ||
| .def("spot_falloff", &sdf::Light::SpotFalloff, | ||
| "Get the rate of falloff between the inner and outer cones. " | ||
| "A value of 1.0 is a linear falloff, less than 1.0 is a slower " | ||
| "falloff, and a higher value indicates a faster falloff.") | ||
| .def("set_spot_falloff", &sdf::Light::SetSpotFalloff, | ||
| "Set the rate of falloff between the inner and outer cones. " | ||
| "A value of 1.0 is a linear falloff, less than 1.0 is a slower " | ||
| "falloff, and a higher value indicates a faster falloff.") | ||
| .def("__copy__", [](const sdf::Light &self) { | ||
| return sdf::Light(self); | ||
| }) | ||
| .def("__deepcopy__", [](const sdf::Light &self, pybind11::dict) { | ||
| return sdf::Light(self); | ||
| }, "memo"_a); | ||
|
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| pybind11::enum_<sdf::LightType>(lightModule, "LightType") | ||
| .value("INVALID", sdf::LightType::INVALID) | ||
| .value("POINT", sdf::LightType::POINT) | ||
| .value("SPOT", sdf::LightType::SPOT) | ||
| .value("DIRECTIONAL", sdf::LightType::DIRECTIONAL); | ||
| } | ||
| } // namespace python | ||
| } // namespace SDF_VERSION_NAMESPACE | ||
| } // namespace sdf |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| /* | ||
| * Copyright (C) 2022 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
|
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| #ifndef SDFORMAT_PYTHON_LIGHT_HH_ | ||
| #define SDFORMAT_PYTHON_LIGHT_HH_ | ||
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| #include <pybind11/pybind11.h> | ||
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| #include "sdf/Light.hh" | ||
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| #include "sdf/config.hh" | ||
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| namespace sdf | ||
| { | ||
| // Inline bracket to help doxygen filtering. | ||
| inline namespace SDF_VERSION_NAMESPACE { | ||
| namespace python | ||
| { | ||
| /// Define a pybind11 wrapper for an sdf::Light | ||
| /** | ||
| * \param[in] module a pybind11 module to add the definition to | ||
| */ | ||
| void defineLight(pybind11::object module); | ||
| } // namespace python | ||
| } // namespace SDF_VERSION_NAMESPACE | ||
| } // namespace sdf | ||
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| #endif // SDFORMAT_PYTHON_LIGHT_HH_ |
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