95 lines
2.8 KiB
C++
95 lines
2.8 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: Cylinder 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 _CYLINDERSHAPE_HH_
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#define _CYLINDERSHAPE_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 "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 CylinderShape CylinderShape.hh physics/physics.hh
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/// \brief Cylinder collision
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class GZ_PHYSICS_VISIBLE CylinderShape : public Shape
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{
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/// \brief Constructor.
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/// \param[in] _parent Parent of the shape.
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public: explicit CylinderShape(CollisionPtr _parent);
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/// \brief Destructor.
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public: virtual ~CylinderShape();
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/// \brief Initialize the cylinder.
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public: void Init();
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/// \brief Set radius.
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/// \param[in} _radius New radius of the cylinder.
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public: void SetRadius(double _radius);
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/// \brief Set length.
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/// \param[in] _length New length of the cylinder.
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public: void SetLength(double _length);
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/// \brief Get radius.
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/// \return The cylinder radius.
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public: double GetRadius() const;
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/// \brief Get length.
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/// \return The cylinder length.
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public: double GetLength() const;
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/// \brief Set the size of the cylinder.
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/// \param[in] _radius New radius.
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/// \param[in] _lenght New length.
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public: virtual void SetSize(double _radius, double _length);
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/// \brief Set scale of cylinder.
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/// \param[in] _scale Scale to set the cylinder to.
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public: virtual void SetScale(const math::Vector3 &_scale);
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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 Update values based on a message.
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/// \param[in] _msg Message to update 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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