Gazebo Physics

API Reference

2.6.2
gz/physics/CylinderShape.hh
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17 
18 #ifndef GZ_PHYSICS_CYLINDERSHAPE_HH_
19 #define GZ_PHYSICS_CYLINDERSHAPE_HH_
20 
21 #include <string>
22 
24 #include <gz/physics/Geometry.hh>
25 
26 namespace ignition
27 {
28  namespace physics
29  {
30  IGN_PHYSICS_DECLARE_SHAPE_TYPE(CylinderShape)
31 
32  class IGNITION_PHYSICS_VISIBLE GetCylinderShapeProperties
33  : public virtual FeatureWithRequirements<CylinderShapeCast>
34  {
35  public: template <typename PolicyT, typename FeaturesT>
36  class CylinderShape : public virtual Entity<PolicyT, FeaturesT>
37  {
38  public: using Scalar = typename PolicyT::Scalar;
39 
42  public: Scalar GetRadius() const;
43 
47  public: Scalar GetHeight() const;
48  };
49 
50  public: template <typename PolicyT>
51  class Implementation : public virtual Feature::Implementation<PolicyT>
52  {
53  public: using Scalar = typename PolicyT::Scalar;
54 
55  public: virtual Scalar GetCylinderShapeRadius(
56  const Identity &_cylinderID) const = 0;
57 
58  public: virtual Scalar GetCylinderShapeHeight(
59  const Identity &_cylinderID) const = 0;
60  };
61  };
62 
66  class IGNITION_PHYSICS_VISIBLE SetCylinderShapeProperties
67  : public virtual FeatureWithRequirements<CylinderShapeCast>
68  {
69  public: template <typename PolicyT, typename FeaturesT>
70  class CylinderShape : public virtual Entity<PolicyT, FeaturesT>
71  {
72  public: using Scalar = typename PolicyT::Scalar;
73 
77  public: void SetRadius(Scalar _radius);
78 
82  public: void SetHeight(Scalar _height);
83  };
84 
85  public: template <typename PolicyT>
86  class Implementation : public virtual Feature::Implementation<PolicyT>
87  {
88  public: using Scalar = typename PolicyT::Scalar;
89 
90  public: virtual void SetCylinderShapeRadius(
91  const Identity &_cylinderID, Scalar _radius) = 0;
92 
93  public: virtual void SetCylinderShapeHeight(
94  const Identity &_cylinderID, Scalar _height) = 0;
95  };
96  };
97 
102  class IGNITION_PHYSICS_VISIBLE AttachCylinderShapeFeature
103  : public virtual FeatureWithRequirements<CylinderShapeCast>
104  {
105  public: template <typename PolicyT, typename FeaturesT>
106  class Link : public virtual Feature::Link<PolicyT, FeaturesT>
107  {
108  public: using Scalar = typename PolicyT::Scalar;
109 
110  public: using PoseType =
111  typename FromPolicy<PolicyT>::template Use<Pose>;
112 
113  public: using ShapePtrType = CylinderShapePtr<PolicyT, FeaturesT>;
114 
123  public: ShapePtrType AttachCylinderShape(
124  const std::string &_name = "cylinder",
125  Scalar _radius = 1.0,
126  Scalar _height = 1.0,
127  const PoseType &_pose = PoseType::Identity());
128  };
129 
130  public: template <typename PolicyT>
131  class Implementation : public virtual Feature::Implementation<PolicyT>
132  {
133  public: using Scalar = typename PolicyT::Scalar;
134 
135  public: using PoseType =
136  typename FromPolicy<PolicyT>::template Use<Pose>;
137 
138  public: virtual Identity AttachCylinderShape(
139  const Identity &_linkID,
140  const std::string &_name,
141  Scalar _radius,
142  Scalar _height,
143  const PoseType &_pose) = 0;
144  };
145  };
146  }
147 }
148 
149 #include <gz/physics/detail/CylinderShape.hh>
150 
151 #endif
This is the base class of all "proxy objects". The "proxy objects" are essentially interfaces into th...
Definition: gz/physics/Entity.hh:216
If your feature is known to require any other features, then you should have your feature class inher...
Definition: gz/physics/FeatureList.hh:108
virtual Identity AttachCylinderShape(const Identity &_linkID, const std::string &_name, Scalar _radius, Scalar _height, const PoseType &_pose)=0
STL class.
This struct is used to conveniently convert from a policy to a geometric type. Example usage:
Definition: gz/physics/Geometry.hh:69
Definition: gz/physics/CylinderShape.hh:70
typename FromPolicy< PolicyT >::template Use< Pose > PoseType
Definition: gz/physics/CylinderShape.hh:136
Definition: gz/physics/CylinderShape.hh:86
This feature constructs a new cylinder shape and attaches the desired pose in the link frame....
Definition: gz/physics/CylinderShape.hh:102
#define IGN_PHYSICS_DECLARE_SHAPE_TYPE(CustomShapeType)
Given a shape type named CustomShapeType, this macro creates the following classes:
Definition: gz/physics/DeclareShapeType.hh:52
typename PolicyT::Scalar Scalar
Definition: gz/physics/CylinderShape.hh:88
Definition: gz/physics/Feature.hh:92
virtual void SetCylinderShapeHeight(const Identity &_cylinderID, Scalar _height)=0
void SetHeight(Scalar _height)
Set the height of this CylinderShape.
This feature sets the CylinderShape properties such as the cylinder radius and height.
Definition: gz/physics/CylinderShape.hh:66
typename PolicyT::Scalar Scalar
Definition: gz/physics/CylinderShape.hh:72
virtual void SetCylinderShapeRadius(const Identity &_cylinderID, Scalar _radius)=0
Definition: gz/physics/CylinderShape.hh:131
void SetRadius(Scalar _radius)
Set the radius of this CylinderShape.
typename PolicyT::Scalar Scalar
Definition: gz/physics/CylinderShape.hh:133