SphereShape.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GAZEBO_PHYSICS_SPHERESHAPE_HH_
18#define GAZEBO_PHYSICS_SPHERESHAPE_HH_
19
20#ifdef _WIN32
21 // Ensure that Winsock2.h is included before Windows.h, which can get
22 // pulled in by anybody (e.g., Boost).
23 #include <Winsock2.h>
24#endif
25
28#include "gazebo/util/system.hh"
29
30namespace gazebo
31{
32 namespace physics
33 {
36
39 class GZ_PHYSICS_VISIBLE SphereShape : public Shape
40 {
43 public: explicit SphereShape(CollisionPtr _parent);
44
46 public: virtual ~SphereShape();
47
49 public: virtual void Init();
50
53 public: virtual void SetRadius(double _radius);
54
57 public: double GetRadius() const;
58
59 // Documentation inherited
60 public: virtual void SetScale(const ignition::math::Vector3d &_scale);
61
64 public: virtual void FillMsg(msgs::Geometry &_msg);
65
68 public: virtual void ProcessMsg(const msgs::Geometry &_msg);
69
71 public: virtual double ComputeVolume() const;
72 };
74 }
75}
76#endif
default namespace for gazebo
Base class for all shapes.
Definition Shape.hh:46
Sphere collision shape.
Definition SphereShape.hh:40
virtual void SetScale(const ignition::math::Vector3d &_scale)
Set the scale of the shape.
virtual double ComputeVolume() const
Documentation inherited.
virtual void Init()
Initialize the sphere.
virtual ~SphereShape()
Destructor.
virtual void FillMsg(msgs::Geometry &_msg)
Fill in the values for a geomertry message.
virtual void SetRadius(double _radius)
Set the size.
double GetRadius() const
Get the sphere's radius.
SphereShape(CollisionPtr _parent)
Constructor.
virtual void ProcessMsg(const msgs::Geometry &_msg)
Process a geometry message.
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
Forward declarations for the common classes.
Definition Animation.hh:27