149 lines
5.1 KiB
C++
149 lines
5.1 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: A ray
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* Author: Nate Koenig
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* Date: 14 Oct 2009
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*/
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#ifndef _RAYSHAPE_HH_
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#define _RAYSHAPE_HH_
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#include <string>
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#include "gazebo/physics/PhysicsTypes.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 RayShape RayShape.hh physics/physics.hh
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/// \brief Base class for Ray collision geometry
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class GZ_PHYSICS_VISIBLE RayShape : public Shape
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{
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/// \brief Constructor for a global ray.
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/// \param[in] _physicsEngine Pointer to the physics engine.
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public: explicit RayShape(PhysicsEnginePtr _physicsEngine);
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/// \brief Constructor.
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/// \param[in] _parent Collision parent of the shape.
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public: explicit RayShape(CollisionPtr _parent);
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/// \brief Destructor.
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public: virtual ~RayShape();
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/// \brief Set the ray based on starting and ending points relative to
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/// the body.
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/// \param[in] _posStart Start position, relative the body.
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/// \param[in] _posEnd End position, relative to the body.
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public: virtual void SetPoints(const math::Vector3 &_posStart,
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const math::Vector3 &_posEnd);
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/// \brief Get the relative starting and ending points.
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/// \param[in] _posA Returns the starting point.
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/// \param[in] _posB Returns the ending point.
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public: virtual void GetRelativePoints(math::Vector3 &_posA,
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math::Vector3 &_posB);
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/// \brief Get the global starting and ending points.
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/// \param[out] _posA Returns the starting point.
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/// \param[out] _posB Returns the ending point.
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public: virtual void GetGlobalPoints(math::Vector3 &_posA,
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math::Vector3 &_posB);
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/// \brief Set the length of the ray.
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/// \param[in] _len Length of the array.
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public: virtual void SetLength(double _len);
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/// \brief Get the length of the ray.
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/// \return The ray length.
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public: double GetLength() const;
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/// \brief Set the scale of the ray
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public: virtual void SetScale(const math::Vector3 &_scale);
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/// \brief Update the ray collision.
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public: virtual void Update() = 0;
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/// \brief Get the nearest intersection.
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/// \param[out] _dist Distance to the intersection.
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/// \param[out] _entity Name of the entity the ray intersected with.
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public: virtual void GetIntersection(double &_dist,
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std::string &_entity) = 0;
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/// \brief Set the retro-reflectivness detected by this ray.
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/// \param[in] _retro Retro reflectance value.
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public: void SetRetro(float _retro);
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/// \brief Get the retro-reflectivness detected by this ray.
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/// \return Retro reflectance value.
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public: float GetRetro() const;
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/// \brief Set the fiducial id detected by this ray.
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/// \param[in] _fid Fiducial id detected by this ray.
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public: void SetFiducial(int _fid);
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/// \brief Get the fiducial id detected by this ray.
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/// \return Fiducial id detected.
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public: int GetFiducial() const;
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/// \brief In the ray.
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public: virtual void Init();
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/// \brief Fill a message with data from this object.
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/// \param[out] _msg Message to fill.
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/// \TODO Implement this function.
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public: void FillMsg(msgs::Geometry &_msg);
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/// \brief Update this shape from a message.
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/// \param[in] _msg Message to update from.
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/// \TODO Implement this function.
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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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// Contact information; this is filled out during collision
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// detection.
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/// \brief Length of the ray.
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protected: double contactLen;
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/// \brief Retro reflectance value
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protected: double contactRetro;
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/// \brief Fiducial ID value.
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protected: int contactFiducial;
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/// \brief Start position of the ray, relative to the body
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protected: math::Vector3 relativeStartPos;
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/// \brief End position of the ray, relative to the body
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protected: math::Vector3 relativeEndPos;
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/// \brief Start position of the ray in global cs
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protected: math::Vector3 globalStartPos;
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/// \brief End position of the ray in global cs
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protected: math::Vector3 globalEndPos;
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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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