CylinderShape.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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13  * See the License for the specific language governing permissions and
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17 #ifndef GAZEBO_PHYSICS_CYLINDERSHAPE_HH_
18 #define GAZEBO_PHYSICS_CYLINDERSHAPE_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 "gazebo/physics/Shape.hh"
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35 
38  class GZ_PHYSICS_VISIBLE CylinderShape : public Shape
39  {
42  public: explicit CylinderShape(CollisionPtr _parent);
43 
45  public: virtual ~CylinderShape();
46 
48  public: void Init();
49 
52  public: void SetRadius(double _radius);
53 
56  public: void SetLength(double _length);
57 
60  public: double GetRadius() const;
61 
64  public: double GetLength() const;
65 
69  public: virtual void SetSize(double _radius, double _length);
70 
73  public: virtual void SetScale(const ignition::math::Vector3d &_scale);
74 
77  public: void FillMsg(msgs::Geometry &_msg);
78 
81  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
82 
84  public: virtual double ComputeVolume() const;
85  };
87  }
88 }
89 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Cylinder collision.
Definition: CylinderShape.hh:38
Base class for all shapes.
Definition: Shape.hh:45
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113