109 lines
3.9 KiB
C++
109 lines
3.9 KiB
C++
/*
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* Copyright (C) 2014 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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#ifndef _GAZEBO_POLYLINESHAPE_HH_
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#define _GAZEBO_POLYLINESHAPE_HH_
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include <vector>
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#include "gazebo/physics/Shape.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 PolylineShape PolylineShape.hh physics/physcs.hh
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/// \brief Polyline geometry primitive.
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class GZ_PHYSICS_VISIBLE PolylineShape : 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 PolylineShape(CollisionPtr _parent);
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/// \brief Destructor.
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public: virtual ~PolylineShape();
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/// \brief Initialize the polyLine.
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public: virtual void Init();
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/// \brief Get the vertices of the polylines
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/// \return A multidimensional vector of polylines and their vertices.
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/// Each element in the outer vector consists of a vector of vertices that
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/// describe one polyline.
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/// \sa SetVertices
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public: std::vector<std::vector<ignition::math::Vector2d> >
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Vertices() const;
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/// \brief Get the height of the polylines.
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/// \return The height of the polylines.
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public: double GetHeight() 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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/// \brief Set the scale of the polyline.
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/// \param[in] _scale Scale of the polyline.
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private: virtual void SetScale(const math::Vector3 &_scale);
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/// \brief Set the vertices of the polylines. The polylines are assumed
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/// to be closed and non-intersecting. If there is more than one polyline,
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/// a ray casting algorithm will be used to identify the
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/// exterior/interior edges and remove the holes in the shape.
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/// \param[in] _vertices A multidimensional vector of polylines and their
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/// vertices. Each element in the outer vector consists of a vector of
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/// vertices that describe one polyline.
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private: virtual void SetVertices(
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const std::vector<std::vector<ignition::math::Vector2d> >
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&_vertices);
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/// \brief Set the vertices of the polyline
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/// \param[in] _msg geometry msg containing the vertex information
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private: virtual void SetVertices(const msgs::Geometry &_msg);
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/// \brief Set the parameters of polyline shape
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/// \param[in] _height Height of the polygon
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/// \param[in] _vertices std::vector<math::Vector2d>
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/// containing the vertex information
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private: void SetPolylineShape(const double &_height,
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const std::vector<std::vector<ignition::math::Vector2d> >
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&_vertices);
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/// \brief Set the height of the polylines. The same height value is set
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/// for all polylines.
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/// \param[in] _height Height of the polylines.
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private: virtual void SetHeight(const double &_height);
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/// \brief Pointer to the mesh data.
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protected: const common::Mesh *mesh;
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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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