CylinderShape.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_CYLINDERSHAPE_HH_
18#define GAZEBO_PHYSICS_CYLINDERSHAPE_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
27#include "gazebo/util/system.hh"
28
29namespace gazebo
30{
31 namespace physics
32 {
35
38 class GZ_PHYSICS_VISIBLE CylinderShape : public Shape
39 {
42 public: explicit CylinderShape(CollisionPtr _parent);
43
45 public: virtual ~CylinderShape();
46
48 public: void Init();
49
52 public: void SetRadius(double _radius);
53
56 public: void SetLength(double _length);
57
60 public: double GetRadius() const;
61
64 public: double GetLength() const;
65
69 public: virtual void SetSize(double _radius, double _length);
70
73 public: virtual void SetScale(const ignition::math::Vector3d &_scale);
74
77 public: void FillMsg(msgs::Geometry &_msg);
78
81 public: virtual void ProcessMsg(const msgs::Geometry &_msg);
82
84 public: virtual double ComputeVolume() const;
85 };
87 }
88}
89#endif
Cylinder collision.
Definition CylinderShape.hh:39
virtual void SetScale(const ignition::math::Vector3d &_scale)
Set scale of cylinder.
void Init()
Initialize the cylinder.
virtual ~CylinderShape()
Destructor.
virtual double ComputeVolume() const
Documentation inherited.
virtual void SetSize(double _radius, double _length)
Set the size of the cylinder.
void SetRadius(double _radius)
Set radius.
double GetRadius() const
Get radius.
void SetLength(double _length)
Set length.
CylinderShape(CollisionPtr _parent)
Constructor.
double GetLength() const
Get length.
virtual void ProcessMsg(const msgs::Geometry &_msg)
Update values based on a message.
void FillMsg(msgs::Geometry &_msg)
Fill in the values for a geomertry message.
Base class for all shapes.
Definition Shape.hh:46
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
Forward declarations for the common classes.
Definition Animation.hh:27