Light.h
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1 /*
2  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
3  * All rights reserved. This program is made available under the terms of the
4  * Eclipse Public License v1.0 which accompanies this distribution, and is
5  * available at http://www.eclipse.org/legal/epl-v10.html
6  * Contributors:
7  * National Institute of Advanced Industrial Science and Technology (AIST)
8  */
9 #ifndef HRPMODEL_LIGHT_H_INCLUDED
10 #define HRPMODEL_LIGHT_H_INCLUDED
11 
12 #include "Link.h"
13 
14 namespace hrp {
15 
16  class Light{
17  public:
18  enum LightType {
22  };
23  Light(Link *parent, int lightType, const std::string &name_);
24 
25  static int nextId;
26  // common attributes
28  int type;
29  std::string name;
32  int id; // unique id in the world
35  bool on;
36  // attributes for point light and spot light
38  double radius;
39  // attribute for directional light and spot light
41  // attributes for spot light
43  };
44 };
45 
46 #endif
Light(Link *parent, int lightType, const std::string &name_)
Definition: Light.cpp:15
LightType
Definition: Light.h:18
int type
Definition: Light.h:28
Link * link
Definition: Light.h:27
Vector3 direction
Definition: Light.h:40
Eigen::Vector3d Vector3
Definition: EigenTypes.h:11
Eigen::Matrix3d Matrix33
Definition: EigenTypes.h:12
int id
Definition: Light.h:32
static int nextId
Definition: Light.h:25
Matrix33 localR
Definition: Light.h:30
double radius
Definition: Light.h:38
bool on
Definition: Light.h:35
Vector3 attenuation
Definition: Light.h:37
Vector3 color
Definition: Light.h:34
std::string name
Definition: Light.h:29
double beamWidth
Definition: Light.h:42
Vector3 location
Definition: Light.h:37
double intensity
Definition: Light.h:33
Vector3 localPos
Definition: Light.h:31
double ambientIntensity
Definition: Light.h:33
double cutOffAngle
Definition: Light.h:42


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:04