SphereShape.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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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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17 #ifndef GAZEBO_PHYSICS_SPHERESHAPE_HH_
18 #define GAZEBO_PHYSICS_SPHERESHAPE_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"
28 #include "gazebo/util/system.hh"
29 
30 namespace gazebo
31 {
32  namespace physics
33  {
36 
39  class GZ_PHYSICS_VISIBLE SphereShape : public Shape
40  {
43  public: explicit SphereShape(CollisionPtr _parent);
44 
46  public: virtual ~SphereShape();
47 
49  public: virtual void Init();
50 
53  public: virtual void SetRadius(double _radius);
54 
57  public: double GetRadius() const;
58 
59  // Documentation inherited
60  public: virtual void SetScale(const ignition::math::Vector3d &_scale);
61 
64  public: virtual void FillMsg(msgs::Geometry &_msg);
65 
68  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
69 
71  public: virtual double ComputeVolume() const;
72  };
74  }
75 }
76 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Base class for all shapes.
Definition: Shape.hh:45
default namespace for gazebo
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
Sphere collision shape.
Definition: SphereShape.hh:39