PolylineShape.hh
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2  * Copyright (C) 2014 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef GAZEBO_PHYSICS_POLYLINESHAPE_HH_
18 #define GAZEBO_PHYSICS_POLYLINESHAPE_HH_
19 
20 #ifdef _WIN32
21  // Ensure that Winsock2.h is included before Windows.h, which can get
22  // pulled in by anybody (e.g., Boost).
23  #include <Winsock2.h>
24 #endif
25 
26 #include <vector>
27 #include "gazebo/physics/Shape.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35 
38  class GZ_PHYSICS_VISIBLE PolylineShape : public Shape
39  {
42  public: explicit PolylineShape(CollisionPtr _parent);
43 
45  public: virtual ~PolylineShape();
46 
48  public: virtual void Init();
49 
55  public: std::vector<std::vector<ignition::math::Vector2d> >
56  Vertices() const;
57 
60  public: double GetHeight() const;
61 
64  public: void FillMsg(msgs::Geometry &_msg);
65 
68  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
69 
72  private: virtual void SetScale(const ignition::math::Vector3d &_scale);
73 
81  private: virtual void SetVertices(
82  const std::vector<std::vector<ignition::math::Vector2d> >
83  &_vertices);
84 
87  private: virtual void SetVertices(const msgs::Geometry &_msg);
88 
93  private: void SetPolylineShape(const double &_height,
94  const std::vector<std::vector<ignition::math::Vector2d> >
95  &_vertices);
96 
100  private: virtual void SetHeight(const double &_height);
101 
103  protected: const common::Mesh *mesh;
104  };
106  }
107 }
108 #endif
A 3D mesh.
Definition: Mesh.hh:42
Forward declarations for the common classes.
Definition: Animation.hh:33
Base class for all shapes.
Definition: Shape.hh:45
const common::Mesh * mesh
Pointer to the mesh data.
Definition: PolylineShape.hh:103
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Polyline geometry primitive.
Definition: PolylineShape.hh:38
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113