Gazebo Physics

API Reference

7.4.0
ConstructCollision.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2018 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 GZ_PHYSICS_SDF_CONSTRUCTCOLLISION_HH_
19 #define GZ_PHYSICS_SDF_CONSTRUCTCOLLISION_HH_
20 
21 #include <string>
22 
23 #include <sdf/Collision.hh>
24 
26 
27 namespace gz {
28 namespace physics {
29 namespace sdf {
30 
31 class ConstructSdfCollision : public virtual Feature
32 {
33  public: template <typename PolicyT, typename FeaturesT>
34  class Link : public virtual Feature::Link<PolicyT, FeaturesT>
35  {
36  public: using ShapePtrType = ShapePtr<PolicyT, FeaturesT>;
37 
38  public: ShapePtrType ConstructCollision(const ::sdf::Collision &_collision);
39  };
40 
41  public: template <typename PolicyT>
42  class Implementation : public virtual Feature::Implementation<PolicyT>
43  {
44  public: virtual Identity ConstructSdfCollision(
45  const Identity &_linkID, const ::sdf::Collision &_collision) = 0;
46  };
47 };
48 
50 template <typename PolicyT, typename FeaturesT>
52  const ::sdf::Collision &_collision) -> ShapePtrType
53 {
54  return ShapePtrType(this->pimpl,
55  this->template Interface<ConstructSdfCollision>()
56  ->ConstructSdfCollision(this->identity, _collision));
57 }
58 }
59 }
60 }
61 
62 #endif