PolylineShape.hh
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1/*
2 * Copyright (C) 2014 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_POLYLINESHAPE_HH_
18#define GAZEBO_PHYSICS_POLYLINESHAPE_HH_
19
20#include <vector>
22
23namespace gazebo
24{
25 namespace physics
26 {
29
32 class GZ_PHYSICS_VISIBLE PolylineShape : public Shape
33 {
36 public: explicit PolylineShape(CollisionPtr _parent);
37
39 public: virtual ~PolylineShape();
40
42 public: virtual void Init();
43
49 public: std::vector<std::vector<ignition::math::Vector2d> >
50 Vertices() const;
51
54 public: double GetHeight() const;
55
58 public: void FillMsg(msgs::Geometry &_msg);
59
62 public: virtual void ProcessMsg(const msgs::Geometry &_msg);
63
66 private: virtual void SetScale(const ignition::math::Vector3d &_scale);
67
75 private: virtual void SetVertices(
76 const std::vector<std::vector<ignition::math::Vector2d> >
77 &_vertices);
78
81 private: virtual void SetVertices(const msgs::Geometry &_msg);
82
87 private: void SetPolylineShape(const double &_height,
88 const std::vector<std::vector<ignition::math::Vector2d> >
89 &_vertices);
90
94 private: virtual void SetHeight(const double &_height);
95
97 protected: const common::Mesh *mesh;
98 };
100 }
101}
102#endif
A 3D mesh.
Definition Mesh.hh:43
Polyline geometry primitive.
Definition PolylineShape.hh:33
double GetHeight() const
Get the height of the polylines.
virtual ~PolylineShape()
Destructor.
const common::Mesh * mesh
Pointer to the mesh data.
Definition PolylineShape.hh:97
virtual void Init()
Initialize the polyLine.
std::vector< std::vector< ignition::math::Vector2d > > Vertices() const
Get the vertices of the polylines.
PolylineShape(CollisionPtr _parent)
Constructor.
virtual void ProcessMsg(const msgs::Geometry &_msg)
Process a geometry message.
void FillMsg(msgs::Geometry &_msg)
Fill in the values for a geomertry message.
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