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Geometry.hh
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1/*
2 * Copyright 2018 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 SDF_GEOMETRY_HH_
18#define SDF_GEOMETRY_HH_
19
20#include <ignition/utils/ImplPtr.hh>
21#include <sdf/Error.hh>
22#include <sdf/Element.hh>
23#include <sdf/sdf_config.h>
24
25namespace sdf
26{
27 // Inline bracket to help doxygen filtering.
28 inline namespace SDF_VERSION_NAMESPACE {
29 //
30
31 // Forward declare private data class.
32 class Box;
33 class Capsule;
34 class Cylinder;
35 class Ellipsoid;
36 class Heightmap;
37 class Mesh;
38 class Plane;
39 class Sphere;
40
43 enum class GeometryType
44 {
46 EMPTY = 0,
47
49 BOX = 1,
50
52 CYLINDER = 2,
53
55 PLANE = 3,
56
58 SPHERE = 4,
59
61 MESH = 5,
62
64 HEIGHTMAP = 6,
65
67 CAPSULE = 7,
68
70 ELLIPSOID = 8,
71 };
72
78 {
80 public: Geometry();
81
88 public: Errors Load(ElementPtr _sdf);
89
92 public: GeometryType Type() const;
93
96 public: void SetType(const GeometryType _type);
97
103 public: const Box *BoxShape() const;
104
107 public: void SetBoxShape(const Box &_box);
108
114 public: const Capsule *CapsuleShape() const;
115
118 public: void SetCapsuleShape(const Capsule &_capsule);
119
125 public: const Cylinder *CylinderShape() const;
126
129 public: void SetCylinderShape(const Cylinder &_cylinder);
130
136 public: const Ellipsoid *EllipsoidShape() const;
137
140 public: void SetEllipsoidShape(const Ellipsoid &_ellipsoid);
141
147 public: const Sphere *SphereShape() const;
148
151 public: void SetSphereShape(const Sphere &_sphere);
152
158 public: const Plane *PlaneShape() const;
159
162 public: void SetPlaneShape(const Plane &_plane);
163
169 public: const Mesh *MeshShape() const;
170
173 public: void SetMeshShape(const Mesh &_mesh);
174
180 public: const Heightmap *HeightmapShape() const;
181
184 public: void SetHeightmapShape(const Heightmap &_heightmap);
185
190 public: sdf::ElementPtr Element() const;
191
193 IGN_UTILS_IMPL_PTR(dataPtr)
194 };
195 }
196}
197#endif
Box represents a box shape, and is usually accessed through a Geometry.
Definition Box.hh:34
Capsule represents a capsule shape, and is usually accessed through a Geometry.
Definition Capsule.hh:33
Cylinder represents a cylinder shape, and is usually accessed through a Geometry.
Definition Cylinder.hh:33
Ellipsoid represents a ellipsoid shape, and is usually accessed through a Geometry.
Definition Ellipsoid.hh:33
Geometry provides access to a shape, such as a Box.
Definition Geometry.hh:78
void SetHeightmapShape(const Heightmap &_heightmap)
Set the heightmap shape.
void SetMeshShape(const Mesh &_mesh)
Set the mesh shape.
const Heightmap * HeightmapShape() const
Get the heightmap geometry, or nullptr if the contained geometry is not a heightmap.
GeometryType Type() const
Get the type of geometry.
void SetPlaneShape(const Plane &_plane)
Set the plane shape.
const Mesh * MeshShape() const
Get the mesh geometry, or nullptr if the contained geometry is not a mesh.
void SetSphereShape(const Sphere &_sphere)
Set the sphere shape.
const Sphere * SphereShape() const
Get the sphere geometry, or nullptr if the contained geometry is not a sphere.
Geometry()
Default constructor.
const Capsule * CapsuleShape() const
Get the capsule geometry, or nullptr if the contained geometry is not a capsule.
void SetCylinderShape(const Cylinder &_cylinder)
Set the cylinder shape.
const Cylinder * CylinderShape() const
Get the cylinder geometry, or nullptr if the contained geometry is not a cylinder.
void SetEllipsoidShape(const Ellipsoid &_ellipsoid)
Set the ellipsoid shape.
void SetBoxShape(const Box &_box)
Set the box shape.
const Ellipsoid * EllipsoidShape() const
Get the ellipsoid geometry, or nullptr if the contained geometry is not an ellipsoid.
const Box * BoxShape() const
Get the box geometry, or nullptr if the contained geometry is not a box.
Errors Load(ElementPtr _sdf)
Load the geometry based on a element pointer.
void SetCapsuleShape(const Capsule &_capsule)
Set the capsule shape.
void SetType(const GeometryType _type)
Set the type of geometry.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
const Plane * PlaneShape() const
Get the plane geometry, or nullptr if the contained geometry is not a plane.
Heightmap represents a shape defined by a 2D field, and is usually accessed through a Geometry.
Definition Heightmap.hh:120
Mesh represents a mesh shape, and is usually accessed through a Geometry.
Definition Mesh.hh:36
Plane represents a plane shape, and is usually accessed through a Geometry.
Definition Plane.hh:37
Sphere represents a sphere shape, and is usually accessed through a Geometry.
Definition Sphere.hh:34
GeometryType
The set of geometry types.
Definition Geometry.hh:44
std::vector< Error > Errors
A vector of Error.
Definition Types.hh:106
std::shared_ptr< Element > ElementPtr
Definition Element.hh:54
namespace for Simulation Description Format parser
Definition Actor.hh:34
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition system_util.hh:41