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Surface.hh
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1/*
2 * Copyright 2020 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_SURFACE_HH_
18#define SDF_SURFACE_HH_
19
20#include <ignition/utils/ImplPtr.hh>
21#include "sdf/Element.hh"
22#include "sdf/Types.hh"
23#include "sdf/sdf_config.h"
24#include "sdf/system_util.hh"
25
26namespace sdf
27{
28 // Inline bracket to help doxygen filtering.
29 inline namespace SDF_VERSION_NAMESPACE {
32 {
34 public: Contact();
35
42 public: Errors Load(ElementPtr _sdf);
43
48 public: sdf::ElementPtr Element() const;
49
52 public: uint16_t CollideBitmask() const;
53
55 public: void SetCollideBitmask(const uint16_t _bitmask);
56
58 IGN_UTILS_IMPL_PTR(dataPtr)
59 };
60
63 {
65 public: Surface();
66
73 public: Errors Load(ElementPtr _sdf);
74
79 public: sdf::ElementPtr Element() const;
80
84 public: const sdf::Contact *Contact() const;
85
88 public: void SetContact(const sdf::Contact &_contact);
89
91 IGN_UTILS_IMPL_PTR(dataPtr)
92 };
93 }
94}
95
96#endif
Contact information for a surface.
Definition Surface.hh:32
void SetCollideBitmask(const uint16_t _bitmask)
Set the collide bitmask parameter.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
Contact()
Default constructor.
Errors Load(ElementPtr _sdf)
Load the contact based on a element pointer.
uint16_t CollideBitmask() const
Get the collide bitmask parameter.
Surface information for a collision.
Definition Surface.hh:63
const sdf::Contact * Contact() const
Get the associated contact object.
void SetContact(const sdf::Contact &_contact)
Set the associated contact object.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
Surface()
Default constructor.
Errors Load(ElementPtr _sdf)
Load the surface based on a element pointer.
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