##

Scene.hh
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/*
* Copyright (C) 2015 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.
*
*/
#ifndef GAZEBO_RENDERING_SCENE_HH_
#define GAZEBO_RENDERING_SCENE_HH_
#include <memory>
#include <string>
#include <vector>
#include <boost/enable_shared_from_this.hpp>
#include <boost/shared_ptr.hpp>
#include <sdf/sdf.hh>
#include <ignition/math/Color.hh>
#include <ignition/math/Vector2.hh>
#include <ignition/math/Vector3.hh>
#include "gazebo/common/Events.hh"
#include "gazebo/common/Color.hh"
#include "gazebo/gazebo_config.h"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/rendering/Visual.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/util/system.hh"
namespace SkyX
{
class SkyX;
}
namespace Ogre
{
class SceneManager;
class Node;
class Entity;
class Mesh;
class Vector3;
class Quaternion;
}
namespace gazebo
{
namespace rendering
{
class Visual;
class Grid;
class Heightmap;
class ScenePrivate;
class GZ_RENDERING_VISIBLE Scene :
public boost::enable_shared_from_this<Scene>
{
public: enum SkyXMode {
GZ_SKYX_ALL = 0x0FFFFFFF,
GZ_SKYX_CLOUDS = 0x0000001,
GZ_SKYX_MOON = 0x0000002,
GZ_SKYX_NONE = 0
};
private: Scene();
public: Scene(const std::string &_name,
const bool _enableVisualizations = false,
const bool _isServer = false);
public: virtual ~Scene();
public: void Load(sdf::ElementPtr _scene);
public: void Load();
public: void Init();
public: void PreRender();
public: Ogre::SceneManager *OgreSceneManager() const;
public: std::string Name() const;
public: void SetAmbientColor(const common::Color &_color)
GAZEBO_DEPRECATED(9.0);
public: void SetAmbientColor(const ignition::math::Color &_color);
public: ignition::math::Color AmbientColor() const;
public: void SetBackgroundColor(const common::Color &_color)
GAZEBO_DEPRECATED(9.0);
public: void SetBackgroundColor(const ignition::math::Color &_color);
public: ignition::math::Color BackgroundColor() const;
public: void CreateGrid(const uint32_t _cellCount,
const float _cellLength, const float _lineWidth,
const common::Color &_color) GAZEBO_DEPRECATED(9.0);
public: void CreateGrid(const uint32_t _cellCount,
const float _cellLength, const ignition::math::Color &_color);
public: Grid *GetGrid(uint32_t _index) const;
public: uint32_t GridCount() const;
public: CameraPtr CreateCamera(const std::string &_name,
const bool _autoRender = true);
public: WideAngleCameraPtr CreateWideAngleCamera(const std::string &_name,
const bool _autoRender = true);
#ifdef HAVE_OCULUS
public: OculusCameraPtr CreateOculusCamera(const std::string &_name);
public: uint32_t OculusCameraCount() const;
#endif
public: DepthCameraPtr CreateDepthCamera(const std::string &_name,
const bool _autoRender = true);
public: GpuLaserPtr CreateGpuLaser(const std::string &_name,
const bool _autoRender = true);
public: uint32_t CameraCount() const;
public: CameraPtr GetCamera(const uint32_t _index) const;
public: CameraPtr GetCamera(const std::string &_name) const;
public: UserCameraPtr CreateUserCamera(const std::string &_name,
const bool _stereoEnabled = false);
public: uint32_t UserCameraCount() const;
public: UserCameraPtr GetUserCamera(const uint32_t _index) const;
public: void RemoveCamera(const std::string &_name);
public: uint32_t LightCount() const;
public: LightPtr GetLight(const std::string &_name) const
GAZEBO_DEPRECATED(9.1);
public: LightPtr GetLight(const uint32_t _index) const
GAZEBO_DEPRECATED(9.1);
public: LightPtr LightByName(const std::string &_name) const;
public: LightPtr LightByIndex(const uint32_t _index) const;
public: LightPtr LightById(const uint32_t _id) const;
public: VisualPtr GetVisual(const std::string &_name) const;
public: VisualPtr GetVisual(const uint32_t _id) const;
public: void SelectVisual(const std::string &_name,
const std::string &_mode);
public: VisualPtr VisualAt(CameraPtr _camera,
const ignition::math::Vector2i &_mousePos,
std::string &_mod);
public: void SnapVisualToNearestBelow(const std::string &_visualName);
public: VisualPtr VisualAt(CameraPtr _camera,
const ignition::math::Vector2i &_mousePos);
public: VisualPtr ModelVisualAt(CameraPtr _camera,
const ignition::math::Vector2i &_mousePos);
public: VisualPtr VisualBelow(const std::string &_visualName);
public: void VisualsBelowPoint(const ignition::math::Vector3d &_pt,
std::vector<VisualPtr> &_visuals);
public: double HeightBelowPoint(const ignition::math::Vector3d &_pt);
public: bool FirstContact(CameraPtr _camera,
const ignition::math::Vector2i &_mousePos,
ignition::math::Vector3d &_position);
public: void PrintSceneGraph();
public: void SetVisible(const std::string &_name, const bool _visible);
public: void DrawLine(const ignition::math::Vector3d &_start,
const ignition::math::Vector3d &_end,
const std::string &_name);
public: void SetFog(const std::string &_type,
const common::Color &_color,
const double _density, const double _start,
const double _end) GAZEBO_DEPRECATED(9.0);
public: void SetFog(const std::string &_type,
const ignition::math::Color &_color,
const double _density, const double _start,
const double _end);
public: uint32_t Id() const;
public: std::string IdString() const;
public: void SetShadowsEnabled(const bool _value);
public: bool ShadowsEnabled() const;
public: bool SetShadowTextureSize(const unsigned int _size);
public: unsigned int ShadowTextureSize() const;
public: void AddVisual(VisualPtr _vis);
public: void RemoveVisual(VisualPtr _vis);
public: void RemoveVisual(const uint32_t _id);
public: void SetVisualId(VisualPtr _vis, const uint32_t _id);
public: void AddLight(LightPtr _light);
public: void RemoveLight(LightPtr _light);
public: void SetGrid(const bool _enabled);
public: void ShowOrigin(const bool _show);
public: VisualPtr WorldVisual() const;
public: std::string StripSceneName(const std::string &_name) const;
public: Heightmap *GetHeightmap() const;
public: void SetHeightmapLOD(const unsigned int _value);
public: unsigned int HeightmapLOD() const;
public: void SetHeightmapSkirtLength(const double _value);
public: double HeightmapSkirtLength() const;
public: void Clear();
public: VisualPtr SelectedVisual() const;
public: void SetWireframe(const bool _show);
public: bool Wireframe() const;
public: void SetTransparent(const bool _show);
public: void ShowCOMs(const bool _show);
public: void ShowInertias(const bool _show);
public: void ShowLinkFrames(const bool _show);
public: void ShowSkeleton(const bool _show);
public: void ShowJoints(const bool _show);
public: void ShowCollisions(const bool _show);
public: void ShowContacts(const bool _show);
public: void ShowClouds(const bool _show);
public: bool ShowClouds() const;
public: void SetSkyXMode(const unsigned int _mode);
public: SkyX::SkyX *GetSkyX() const;
public: bool Initialized() const;
public: common::Time SimTime() const;
public: uint32_t VisualCount() const;
public: void RemoveProjectors();
public: void ToggleLayer(const int32_t _layer);
public: bool LayerState(const int32_t _layer) const;
public: bool HasLayer(const int32_t _layer) const;
public: void EnableVisualizations(const bool _enable);
public: bool EnableVisualizations() const;
private: void SetSky();
private: void InitDeferredShading();
private: Ogre::Entity *OgreEntityAt(CameraPtr _camera,
const ignition::math::Vector2i &_mousePos,
const bool _ignoreSelectionObj);
// Code found in Wiki: www.ogre3d.org/wiki/index.php/RetrieveVertexData
private: void MeshInformation(const Ogre::Mesh *_mesh,
size_t &_vertexCount,
Ogre::Vector3* &_vertices,
size_t &_indexCount,
uint64_t* &_indices,
const ignition::math::Vector3d &_position,
const ignition::math::Quaterniond &_orient,
const ignition::math::Vector3d &_scale);
private: void PrintSceneGraphHelper(const std::string &_prefix,
Ogre::Node *_node);
private: void OnScene(ConstScenePtr &_msg);
private: void OnResponse(ConstResponsePtr &_msg);
private: void OnRequest(ConstRequestPtr &_msg);
private: void OnJointMsg(ConstJointPtr &_msg);
private: bool ProcessSensorMsg(ConstSensorPtr &_msg);
private: bool ProcessJointMsg(ConstJointPtr &_msg);
private: bool ProcessLinkMsg(ConstLinkPtr &_msg);
private: bool ProcessSceneMsg(ConstScenePtr &_msg);
private: bool ProcessModelMsg(const msgs::Model &_msg);
private: void OnSensorMsg(ConstSensorPtr &_msg);
private: void OnVisualMsg(ConstVisualPtr &_msg);
private: bool ProcessVisualMsg(ConstVisualPtr &_msg,
Visual::VisualType _type = Visual::VT_ENTITY);
private: void OnLightFactoryMsg(ConstLightPtr &_msg);
private: void OnLightModifyMsg(ConstLightPtr &_msg);
private: bool ProcessLightFactoryMsg(ConstLightPtr &_msg);
private: bool ProcessLightModifyMsg(ConstLightPtr &_msg);
private: void ProcessRequestMsg(ConstRequestPtr &_msg);
private: void OnSkyMsg(ConstSkyPtr &_msg);
private: void OnModelMsg(ConstModelPtr &_msg);
private: void OnPoseMsg(ConstPosesStampedPtr &_msg);
private: void OnSkeletonPoseMsg(ConstPoseAnimationPtr &_msg);
private: void OnRoadMsg(ConstRoadPtr &_msg);
private: void CreateCOMVisual(ConstLinkPtr &_msg, VisualPtr _linkVisual);
private: void CreateCOMVisual(sdf::ElementPtr _elem,
VisualPtr _linkVisual);
private: void CreateInertiaVisual(ConstLinkPtr &_msg,
VisualPtr _linkVisual);
private: void CreateInertiaVisual(sdf::ElementPtr _elem,
VisualPtr _linkVisual);
private: void CreateLinkFrameVisual(ConstLinkPtr &_msg,
VisualPtr _linkVisual);
private: void RemoveVisualizations(VisualPtr _vis);
private: std::unique_ptr<ScenePrivate> dataPtr;
};
}
}
#endif
gazebo::rendering::Scene::FirstContact
bool FirstContact(CameraPtr _camera, const ignition::math::Vector2i &_mousePos, ignition::math::Vector3d &_position)
Get the world pos of a the first contact at a pixel location.
gazebo::rendering::Scene::ShowOrigin
void ShowOrigin(const bool _show)
Show/hide the world origin indicator.
gazebo::rendering::Scene::SetAmbientColor
void SetAmbientColor(const common::Color &_color) GAZEBO_DEPRECATED(9.0)
Set the ambient color.
gazebo::rendering::Scene::SetTransparent
void SetTransparent(const bool _show)
Enable or disable transparency for all visuals.
gazebo::rendering::Scene::SetHeightmapLOD
void SetHeightmapLOD(const unsigned int _value)
Set the Level Of Detail (LOD) value for the heightmap.
gazebo::rendering::UserCameraPtr
boost::shared_ptr< UserCamera > UserCameraPtr
Definition: RenderTypes.hh:94
gazebo::rendering::Scene::ShowClouds
bool ShowClouds() const
Get whether or not clouds are displayed.
gazebo::rendering::Scene::BackgroundColor
ignition::math::Color BackgroundColor() const
Get the background color.
gazebo::rendering::Scene::IdString
std::string IdString() const
Get the scene Id as a string.
Ogre
Definition: JointMaker.hh:39
gazebo::rendering::Scene::Load
void Load()
Load the scene with default parameters.
Events.hh
gazebo::rendering::Scene::LightById
LightPtr LightById(const uint32_t _id) const
Get a light by id.
gazebo::rendering::Scene::HeightBelowPoint
double HeightBelowPoint(const ignition::math::Vector3d &_pt)
Get the Z-value of the first object below the given point.
gazebo::rendering::Scene
Representation of an entire scene graph.
Definition: Scene.hh:101
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::rendering::Scene::GetHeightmap
Heightmap * GetHeightmap() const
Get a pointer to the heightmap.
gazebo::rendering::Heightmap
Rendering a terrain using heightmap information.
Definition: Heightmap.hh:62
gazebo::common::Time
A Time class, can be used to hold wall- or sim-time. stored as sec and nano-sec.
Definition: Time.hh:47
gazebo::rendering::Scene::Wireframe
bool Wireframe() const
Get whether wireframe is enabled for all visuals.
gazebo::rendering::GpuLaserPtr
boost::shared_ptr< GpuLaser > GpuLaserPtr
Definition: RenderTypes.hh:106
gazebo::rendering::Visual::VT_ENTITY
Entity visual.
Definition: Visual.hh:68
gazebo::rendering::Scene::CreateUserCamera
UserCameraPtr CreateUserCamera(const std::string &_name, const bool _stereoEnabled=false)
Create a user camera.
gazebo::rendering::Scene::EnableVisualizations
bool EnableVisualizations() const
Check whether visualizations are enabled or not.
gazebo::rendering::Scene::SimTime
common::Time SimTime() const
Get the scene simulation time.
gazebo::rendering::Scene::VisualAt
VisualPtr VisualAt(CameraPtr _camera, const ignition::math::Vector2i &_mousePos, std::string &_mod)
Get an entity at a pixel location using a camera.
TransportTypes.hh
Forward declarations for transport.
gazebo::rendering::Scene::VisualsBelowPoint
void VisualsBelowPoint(const ignition::math::Vector3d &_pt, std::vector< VisualPtr > &_visuals)
Get a visual directly below a point.
gazebo::rendering::Scene::SetVisible
void SetVisible(const std::string &_name, const bool _visible)
Hide or show a visual.
system.hh
gazebo::rendering::Scene::GetGrid
Grid * GetGrid(uint32_t _index) const
Get a grid based on an index.
gazebo::rendering::Scene::Id
uint32_t Id() const
Get the scene ID.
msgs.hh
gazebo::rendering::Scene::CreateGrid
void CreateGrid(const uint32_t _cellCount, const float _cellLength, const float _lineWidth, const common::Color &_color) GAZEBO_DEPRECATED(9.0)
Create a square grid of cells.
gazebo::rendering::Scene::VisualCount
uint32_t VisualCount() const
Get the number of visuals.
gazebo::rendering::Scene::ShowJoints
void ShowJoints(const bool _show)
Enable or disable joint visualization.
gazebo::rendering::Scene::SetSkyXMode
void SetSkyXMode(const unsigned int _mode)
Set SkyX mode to enable/disable skyx components such as clouds and moon.
gazebo::rendering::Scene::HeightmapLOD
unsigned int HeightmapLOD() const
Get the Level Of Detail (LOD) value for the heightmap.
gazebo::rendering::Scene::CreateDepthCamera
DepthCameraPtr CreateDepthCamera(const std::string &_name, const bool _autoRender=true)
Create depth camera.
gazebo::rendering::Scene::PrintSceneGraph
void PrintSceneGraph()
Print the scene graph to std_out.
gazebo::rendering::Scene::Clear
void Clear()
Clear rendering::Scene.
gazebo::rendering::Scene::SetBackgroundColor
void SetBackgroundColor(const common::Color &_color) GAZEBO_DEPRECATED(9.0)
Set the background color.
gazebo::rendering::Scene::~Scene
virtual ~Scene()
Destructor.
gazebo::rendering::Scene::ShowSkeleton
void ShowSkeleton(const bool _show)
Enable or disable skeleton visualization.
gazebo::rendering::Scene::ShowInertias
void ShowInertias(const bool _show)
Enable or disable inertia visualization.
gazebo::rendering::Scene::SetHeightmapSkirtLength
void SetHeightmapSkirtLength(const double _value)
Set the skirt length value for the heightmap LOD tiles.
gazebo::rendering::Scene::SetGrid
void SetGrid(const bool _enabled)
Set the grid on or off.
gazebo::rendering::Scene::HeightmapSkirtLength
double HeightmapSkirtLength() const
Get the skirt length value for the heightmap LOD tiles.
gazebo::rendering::Scene::CameraCount
uint32_t CameraCount() const
Get the number of cameras in this scene.
RenderTypes.hh
gazebo::rendering::Scene::GZ_SKYX_NONE
Definition: Scene.hh:108
gazebo::rendering::Scene::GZ_SKYX_ALL
Definition: Scene.hh:105
gazebo::rendering::Scene::RemoveProjectors
void RemoveProjectors()
Remove all projectors.
gazebo::rendering::Grid
Displays a grid of cells, drawn with lines.
Definition: Grid.hh:58
Color.hh
rendering
rendering
Definition: RenderEngine.hh:31
gazebo::rendering::Scene::RemoveCamera
void RemoveCamera(const std::string &_name)
Remove a camera from the scene.
gazebo::rendering::Visual::VisualType
VisualType
Type of visual.
Definition: Visual.hh:65
gazebo::rendering::Scene::LightCount
uint32_t LightCount() const
Get the count of the lights.
gazebo::rendering::Scene::LightByName
LightPtr LightByName(const std::string &_name) const
Get a light by name.
gazebo::rendering::Scene::ShowContacts
void ShowContacts(const bool _show)
Enable or disable contact visualization.
gazebo::rendering::Scene::SetVisualId
void SetVisualId(VisualPtr _vis, const uint32_t _id)
gazebo::rendering::DepthCameraPtr
boost::shared_ptr< DepthCamera > DepthCameraPtr
Definition: RenderTypes.hh:98
gazebo::rendering::Scene::GetCamera
CameraPtr GetCamera(const uint32_t _index) const
Get a camera based on an index.
gazebo::rendering::Scene::ShowCollisions
void ShowCollisions(const bool _show)
Enable or disable collision visualization.
gazebo::rendering::Scene::GetSkyX
SkyX::SkyX * GetSkyX() const
Get the sky in the scene.
gazebo::rendering::Scene::WorldVisual
VisualPtr WorldVisual() const
Get the top level world visual.
gazebo::rendering::Scene::GZ_SKYX_MOON
Definition: Scene.hh:107
gazebo::rendering::Scene::SetShadowsEnabled
void SetShadowsEnabled(const bool _value)
Set whether shadows are on or off.
gazebo::rendering::Scene::Initialized
bool Initialized() const
Return true if the Scene has been initialized.
Visual.hh
gazebo::rendering::Scene::CreateGpuLaser
GpuLaserPtr CreateGpuLaser(const std::string &_name, const bool _autoRender=true)
Create laser that generates data from rendering.
gazebo::rendering::Scene::SetFog
void SetFog(const std::string &_type, const common::Color &_color, const double _density, const double _start, const double _end) GAZEBO_DEPRECATED(9.0)
Set the fog parameters.
gazebo::rendering::Scene::RemoveVisual
void RemoveVisual(VisualPtr _vis)
Remove a visual from the scene.
gazebo::rendering::Scene::SetWireframe
void SetWireframe(const bool _show)
Enable or disable wireframe for all visuals.
gazebo::rendering::Scene::GetLight
LightPtr GetLight(const std::string &_name) const GAZEBO_DEPRECATED(9.1)
Get a light by name.
gazebo::rendering::Scene::GetUserCamera
UserCameraPtr GetUserCamera(const uint32_t _index) const
Get a user camera by index.
gazebo::rendering::Scene::SelectedVisual
VisualPtr SelectedVisual() const
Get the currently selected visual.
gazebo::rendering::Scene::ShadowsEnabled
bool ShadowsEnabled() const
Get whether shadows are on or off.
gazebo::rendering::Scene::UserCameraCount
uint32_t UserCameraCount() const
Get the number of user cameras in this scene.
gazebo::rendering::Scene::AddLight
void AddLight(LightPtr _light)
Add a light to the scene.
gazebo::rendering::Scene::SkyXMode
SkyXMode
Definition: Scene.hh:104
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::rendering::Scene::SetShadowTextureSize
bool SetShadowTextureSize(const unsigned int _size)
Set the shadow texture size.
gazebo::rendering::Scene::ToggleLayer
void ToggleLayer(const int32_t _layer)
Toggle layer visilibility.
gazebo::rendering::Scene::GridCount
uint32_t GridCount() const
Get the number of grids.
gazebo::rendering::Scene::GZ_SKYX_CLOUDS
Definition: Scene.hh:106
gazebo::rendering::Scene::ModelVisualAt
VisualPtr ModelVisualAt(CameraPtr _camera, const ignition::math::Vector2i &_mousePos)
Get a model's visual at a mouse position.
gazebo::common::Color
Defines a color.
Definition: Color.hh:36
gazebo::rendering::Scene::Init
void Init()
Init rendering::Scene.
gazebo::rendering::Scene::LightByIndex
LightPtr LightByIndex(const uint32_t _index) const
Get a light based on an index.
gazebo::rendering::Scene::AddVisual
void AddVisual(VisualPtr _vis)
Add a visual to the scene.
gazebo::rendering::Scene::RemoveLight
void RemoveLight(LightPtr _light)
Remove a light to the scene.
SkyX
Definition: Scene.hh:43
GAZEBO_DEPRECATED
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:328
gazebo::rendering::Scene::HasLayer
bool HasLayer(const int32_t _layer) const
Return true if the layer exits.
gazebo::rendering::Scene::ShowLinkFrames
void ShowLinkFrames(const bool _show)
Enable or disable link frame visualization.
gazebo::rendering::Scene::SelectVisual
void SelectVisual(const std::string &_name, const std::string &_mode)
Select a visual by name.
gazebo::rendering::Scene::GetVisual
VisualPtr GetVisual(const std::string &_name) const
Get a visual by name.
gazebo::rendering::LightPtr
boost::shared_ptr< Light > LightPtr
Definition: RenderTypes.hh:86
gazebo::rendering::Scene::OgreSceneManager
Ogre::SceneManager * OgreSceneManager() const
Get the OGRE scene manager.
gazebo::rendering::VisualPtr
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:114
gazebo::rendering::Scene::Name
std::string Name() const
Get the name of the scene.
gazebo::rendering::Scene::ShadowTextureSize
unsigned int ShadowTextureSize() const
Get the shadow texture size.
gazebo::rendering::Scene::LayerState
bool LayerState(const int32_t _layer) const
Return whether a layer is on or off.
gazebo::rendering::Scene::VisualBelow
VisualPtr VisualBelow(const std::string &_visualName)
Get the closest visual below a given visual.
gazebo::rendering::CameraPtr
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:90
gazebo::rendering::WideAngleCameraPtr
boost::shared_ptr< WideAngleCamera > WideAngleCameraPtr
Definition: RenderTypes.hh:102
gazebo::rendering::Scene::PreRender
void PreRender()
Process all received messages.
gazebo::rendering::Scene::DrawLine
void DrawLine(const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end, const std::string &_name)
Draw a named line.
gazebo::rendering::Scene::CreateWideAngleCamera
WideAngleCameraPtr CreateWideAngleCamera(const std::string &_name, const bool _autoRender=true)
Create a wide-angle camera.
gazebo::rendering::Scene::SnapVisualToNearestBelow
void SnapVisualToNearestBelow(const std::string &_visualName)
Move the visual to be ontop of the nearest visual below it.
gazebo::rendering::Scene::AmbientColor
ignition::math::Color AmbientColor() const
Get the ambient color.
gazebo::rendering::Scene::StripSceneName
std::string StripSceneName(const std::string &_name) const
Remove the name of scene from a string.
gazebo::rendering::Scene::ShowCOMs
void ShowCOMs(const bool _show)
Enable or disable center of mass visualization.
gazebo::rendering::Scene::CreateCamera
CameraPtr CreateCamera(const std::string &_name, const bool _autoRender=true)
Create a camera.