Gazebo Physics

API Reference

7.4.0
CapsuleShape.hh
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17 
18 #ifndef GZ_PHYSICS_CAPSULESHAPE_HH_
19 #define GZ_PHYSICS_CAPSULESHAPE_HH_
20 
21 #include <string>
22 
24 #include <gz/physics/Geometry.hh>
25 
26 namespace gz
27 {
28  namespace physics
29  {
30  GZ_PHYSICS_DECLARE_SHAPE_TYPE(CapsuleShape)
31 
32  class GZ_PHYSICS_VISIBLE GetCapsuleShapeProperties
33  : public virtual FeatureWithRequirements<CapsuleShapeCast>
34  {
35  public: template <typename PolicyT, typename FeaturesT>
36  class CapsuleShape : public virtual Entity<PolicyT, FeaturesT>
37  {
38  public: using Scalar = typename PolicyT::Scalar;
39 
42  public: Scalar GetRadius() const;
43 
47  public: Scalar GetLength() 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 GetCapsuleShapeRadius(
56  const Identity &_capsuleID) const = 0;
57 
58  public: virtual Scalar GetCapsuleShapeLength(
59  const Identity &_capsuleID) const = 0;
60  };
61  };
62 
66  class GZ_PHYSICS_VISIBLE SetCapsuleShapeProperties
67  : public virtual FeatureWithRequirements<CapsuleShapeCast>
68  {
69  public: template <typename PolicyT, typename FeaturesT>
70  class CapsuleShape : public virtual Entity<PolicyT, FeaturesT>
71  {
72  public: using Scalar = typename PolicyT::Scalar;
73 
77  public: void SetRadius(Scalar _radius);
78 
82  public: void SetLength(Scalar length);
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 SetCapsuleShapeRadius(
91  const Identity &_capsuleID, Scalar _radius) = 0;
92 
93  public: virtual void SetCapsuleShapeLength(
94  const Identity &_capsuleID, Scalar _length) = 0;
95  };
96  };
97 
102  class GZ_PHYSICS_VISIBLE AttachCapsuleShapeFeature
103  : public virtual FeatureWithRequirements<CapsuleShapeCast>
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 = CapsuleShapePtr<PolicyT, FeaturesT>;
114 
124  const std::string &_name = "capsule",
125  Scalar _radius = 0.5,
126  Scalar _length = 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 AttachCapsuleShape(
139  const Identity &_linkID,
140  const std::string &_name,
141  Scalar _radius,
142  Scalar _length,
143  const PoseType &_pose) = 0;
144  };
145  };
146  }
147 }
148 
149 #include <gz/physics/detail/CapsuleShape.hh>
150 
151 #endif