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
22#include "gazebo/util/system.hh"
23
24namespace gazebo
25{
26 namespace physics
27 {
30
33 class GZ_PHYSICS_VISIBLE SphereShape : public Shape
34 {
37 public: explicit SphereShape(CollisionPtr _parent);
38
40 public: virtual ~SphereShape();
41
43 public: virtual void Init();
44
47 public: virtual void SetRadius(double _radius);
48
51 public: double GetRadius() const;
52
53 // Documentation inherited
54 public: virtual void SetScale(const ignition::math::Vector3d &_scale);
55
58 public: virtual void FillMsg(msgs::Geometry &_msg);
59
62 public: virtual void ProcessMsg(const msgs::Geometry &_msg);
63
65 public: virtual double ComputeVolume() const;
66 };
68 }
69}
70#endif
default namespace for gazebo
Base class for all shapes.
Definition Shape.hh:40
Sphere collision shape.
Definition SphereShape.hh:34
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