Can set id and name of lidar visual

Signed-off-by: Mihir Kulkarni <mihirk284@gmail.com>
gazebosim · Jul 20, 2020 · 3296d4c · 3296d4c
1 parent fc48246
commit 3296d4c
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Showing 3 changed files with 60 additions and 4 deletions.
diff --git a/include/ignition/rendering/Scene.hh b/include/ignition/rendering/Scene.hh
@@ -855,10 +855,34 @@ namespace ignition
       /// \return The created marker
       public: virtual MarkerPtr CreateMarker() = 0;
 
-      // /// \brief Create new lidar visual.
-      // /// \return The created lidar visual
+      /// \brief Create new lidar visual. A unique ID and name will
+      /// automatically be assigned to the lidar visual.
+      /// \return The created lidar visual
       public: virtual LidarVisualPtr CreateLidarVisual() = 0;
 
+      /// \brief Create new lidar visual with the given ID. A unique name
+      /// will automatically be assigned to the lidar visual. If the given
+      /// ID is already in use, NULL will be returned.
+      /// \param[in] _id ID of the new lidar visual
+      /// \return The created lidar visual
+      public: virtual LidarVisualPtr CreateLidarVisual(unsigned int _id) = 0;
+
+      /// \brief Create new lidar visual with the given name. A unique ID
+      /// will automatically be assigned to the lidar visual. If the given
+      /// name is already in use, NULL will be returned.
+      /// \param[in] _name Name of the new lidar visual
+      /// \return The created lidar visual
+      public: virtual LidarVisualPtr CreateLidarVisual(
+                  const std::string &_name) = 0;
+
+      /// \brief Create new lidar visual with the given name. If either
+      /// the given ID or name is already in use, NULL will be returned.
+      /// \param[in] _id ID of the lidar visual.
+      /// \param[in] _name Name of the new lidar visual.
+      /// \return The created lidar visual
+      public: virtual LidarVisualPtr CreateLidarVisual(
+                  unsigned int _id, const std::string &_name) = 0;
+
       /// \brief Create new text geometry.
       /// \return The created text
       public: virtual TextPtr CreateText() = 0;

diff --git a/include/ignition/rendering/base/BaseScene.hh b/include/ignition/rendering/base/BaseScene.hh
@@ -379,6 +379,18 @@ namespace ignition
       // Documentation inherited.
       public: virtual LidarVisualPtr CreateLidarVisual() override;
 
+      // Documentation inherited.
+      public: virtual LidarVisualPtr CreateLidarVisual(
+                                            unsigned int _id) override;
+
+      // Documentation inherited.
+      public: virtual LidarVisualPtr CreateLidarVisual(
+                                            const std::string &_name) override;
+
+      // Documentation inherited.
+      public: virtual LidarVisualPtr CreateLidarVisual(unsigned int _id,
+                                            const std::string &_name) override;
+
       // Documentation inherited.
       public: virtual WireBoxPtr CreateWireBox() override;
 

diff --git a/src/base/BaseScene.cc b/src/base/BaseScene.cc
@@ -991,8 +991,28 @@ MarkerPtr BaseScene::CreateMarker()
 LidarVisualPtr BaseScene::CreateLidarVisual()
 {
   unsigned int objId = this->CreateObjectId();
-  const std::string objName = this->CreateObjectName(objId, "LidarVisual");
-  LidarVisualPtr lidar = this->CreateLidarVisualImpl(objId, objName);
+  return this->CreateLidarVisual(objId);
+}
+
+//////////////////////////////////////////////////
+LidarVisualPtr BaseScene::CreateLidarVisual(unsigned int _id)
+{
+  const std::string objName = this->CreateObjectName(_id, "LidarVisual");
+  return this->CreateLidarVisual(_id, objName);
+}
+
+//////////////////////////////////////////////////
+LidarVisualPtr BaseScene::CreateLidarVisual(const std::string &_name)
+{
+  unsigned int objId = this->CreateObjectId();
+  return this->CreateLidarVisual(objId, _name);
+}
+
+//////////////////////////////////////////////////
+LidarVisualPtr BaseScene::CreateLidarVisual(unsigned int _id,
+                                            const std::string &_name)
+{
+  LidarVisualPtr lidar = this->CreateLidarVisualImpl(_id, _name);
   bool result = this->RegisterVisual(lidar);
   return (result) ? lidar : nullptr;
 }