Gazebo Physics

API Reference

7.4.0
ConstructVisual.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef GZ_PHYSICS_SDF_CONSTRUCTVISUAL_HH_
19 #define GZ_PHYSICS_SDF_CONSTRUCTVISUAL_HH_
20 
21 #include <sdf/Visual.hh>
22 
24 
25 namespace gz {
26 namespace physics {
27 namespace sdf {
28 
29 class ConstructSdfVisual : public virtual Feature
30 {
31  public: template <typename PolicyT, typename FeaturesT>
32  class Link : public virtual Feature::Link<PolicyT, FeaturesT>
33  {
34  // TODO(MXG): Return a Shape type instead of a bool once we have shape
35  // features in the core gz-physics library.
36  public: bool ConstructVisual(const ::sdf::Visual &_visual);
37  };
38 
39  public: template <typename PolicyT>
40  class Implementation : public virtual Feature::Implementation<PolicyT>
41  {
42  public: virtual Identity ConstructSdfVisual(
43  const Identity &_linkID, const ::sdf::Visual &_visual) = 0;
44  };
45 };
46 
48 template <typename PolicyT, typename FeaturesT>
50  const ::sdf::Visual &_visual) -> bool
51 {
52  return static_cast<bool>(
53  this->template Interface<ConstructSdfVisual>()
54  ->ConstructSdfVisual(this->identity, _visual));
55 }
56 
57 }
58 }
59 }
60 
61 #endif