PlaneShape.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
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8 * http://www.apache.org/licenses/LICENSE-2.0
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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.
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16*/
17#ifndef GAZEBO_PHYSICS_PLANESHAPE_HH_
18#define GAZEBO_PHYSICS_PLANESHAPE_HH_
19
20#include <ignition/math/Vector2.hh>
21
23#include "gazebo/util/system.hh"
24
25namespace gazebo
26{
27 namespace physics
28 {
31
37 class GZ_PHYSICS_VISIBLE PlaneShape : public Shape
38 {
41 public: explicit PlaneShape(CollisionPtr _parent);
42
44 public: virtual ~PlaneShape();
45
47 public: virtual void Init();
48
50 public: virtual void CreatePlane();
51
54 public: virtual void SetAltitude(const ignition::math::Vector3d &_pos);
55
58 public: void SetNormal(const ignition::math::Vector3d &_norm);
59
62 public: ignition::math::Vector3d Normal() const;
63
66 public: void SetSize(const ignition::math::Vector2d &_size);
67
70 public: ignition::math::Vector2d Size() const;
71
74 public: virtual void SetScale(const ignition::math::Vector3d &_scale);
75
78 public: void FillMsg(msgs::Geometry &_msg);
79
83 public: virtual void ProcessMsg(const msgs::Geometry &_msg);
84
86 public: virtual double ComputeVolume() const;
87 };
89 }
90}
91#endif
Collision for an infinite plane.
Definition PlaneShape.hh:38
virtual void SetAltitude(const ignition::math::Vector3d &_pos)
Set the altitude of the plane.
virtual void SetScale(const ignition::math::Vector3d &_scale)
Set the scale of the plane.
void SetSize(const ignition::math::Vector2d &_size)
Set the size.
virtual double ComputeVolume() const
Documentation inherited.
virtual void Init()
Initialize the plane.
ignition::math::Vector3d Normal() const
Get the plane normal.
ignition::math::Vector2d Size() const
Get the size.
PlaneShape(CollisionPtr _parent)
Constructor.
void SetNormal(const ignition::math::Vector3d &_norm)
Set the normal.
virtual void ProcessMsg(const msgs::Geometry &_msg)
Process a geometry message and use the data to update this object.
void FillMsg(msgs::Geometry &_msg)
Fill a geometry message with data from this object.
virtual void CreatePlane()
Create the plane.
virtual ~PlaneShape()
Destructor.
Base class for all shapes.
Definition Shape.hh:40
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
Forward declarations for the common classes.
Definition Animation.hh:27