SimbodyCylinderShape.hh
Go to the documentation of this file.
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
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 
18 #ifndef _SIMBODY_CYLINDERSHAPE_HH_
19 #define _SIMBODY_CYLINDERSHAPE_HH_
20 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace physics
28  {
32 
34  class GZ_PHYSICS_VISIBLE SimbodyCylinderShape : public CylinderShape
35  {
38  : CylinderShape(_parent) {}
39 
41  public: virtual ~SimbodyCylinderShape() {}
42 
43  // Documentation inherited
44  public: void SetSize(double _radius, double _length)
45  {
46  if (_radius < 0)
47  {
48  gzerr << "Cylinder shape does not support negative radius\n";
49  return;
50  }
51  if (_length < 0)
52  {
53  gzerr << "Cylinder shape does not support negative length\n";
54  return;
55  }
56  if (ignition::math::equal(_radius, 0.0))
57  {
58  // Warn user, but still create shape with very small value
59  // otherwise later resize operations using setLocalScaling
60  // will not be possible
61  gzwarn << "Setting cylinder shape's radius to zero \n";
62  _radius = 1e-4;
63  }
64  if (ignition::math::equal(_length, 0.0))
65  {
66  gzwarn << "Setting cylinder shape's length to zero \n";
67  _length = 1e-4;
68  }
69 
70  CylinderShape::SetSize(_radius, _length);
71  SimbodyCollisionPtr bParent;
72  bParent = boost::dynamic_pointer_cast<SimbodyCollision>(
73  this->collisionParent);
74 
75  // set collision shape
76  }
77  };
79  }
80 }
81 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
virtual ~SimbodyCylinderShape()
Destructor.
Definition: SimbodyCylinderShape.hh:41
Cylinder collision.
Definition: CylinderShape.hh:38
#define gzwarn
Output a warning message.
Definition: Console.hh:47
#define gzerr
Output an error message.
Definition: Console.hh:50
void SetSize(double _radius, double _length)
Set the size of the cylinder.
Definition: SimbodyCylinderShape.hh:44
Simbody collisions.
Definition: SimbodyCollision.hh:41
boost::shared_ptr< SimbodyCollision > SimbodyCollisionPtr
Definition: SimbodyTypes.hh:44
virtual void SetSize(double _radius, double _length)
Set the size of the cylinder.
SimbodyCylinderShape(CollisionPtr _parent)
Constructor.
Definition: SimbodyCylinderShape.hh:37
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
Cylinder collision.
Definition: SimbodyCylinderShape.hh:34