76 lines
2.2 KiB
C++
76 lines
2.2 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: Box geometry
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* Author: Nate Koenig, Andrew Howard
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* Date: 8 May 2003
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*/
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#ifndef _BOXSHAPE_HH_
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#define _BOXSHAPE_HH_
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#include "gazebo/physics/Shape.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// \addtogroup gazebo_physics
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/// \{
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/// \class BoxShape BoxShape.hh physics/physcs.hh
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/// \brief Box geometry primitive.
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class GZ_PHYSICS_VISIBLE BoxShape : public Shape
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{
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/// \brief Constructor.
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/// \param[in] _parent Parent Collision.
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public: explicit BoxShape(CollisionPtr _parent);
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/// \brief Destructor.
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public: virtual ~BoxShape();
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/// \brief Initialize the box.
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public: virtual void Init();
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/// \brief Set the size of the box.
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/// \param[in] _size Size of each side of the box.
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public: virtual void SetSize(const math::Vector3 &_size);
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/// \brief Set the scale of the box.
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/// \param[in] _scale Scale of the box.
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public: virtual void SetScale(const math::Vector3 &_scale);
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/// \brief Get the size of the box.
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/// \return The size of each side of the box.
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public: math::Vector3 GetSize() const;
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/// \brief Fill in the values for a geomertry message.
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/// \param[out] _msg The geometry message to fill.
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public: void FillMsg(msgs::Geometry &_msg);
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/// \brief Process a geometry message.
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/// \param[in] _msg The message to set values from.
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public: virtual void ProcessMsg(const msgs::Geometry &_msg);
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/// Documentation inherited
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public: virtual double ComputeVolume() const;
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};
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/// \}
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}
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}
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#endif
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