Gazebo Physics

API Reference

7.4.0
CylinderShape.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_CYLINDERSHAPE_HH_
19 #define GZ_PHYSICS_CYLINDERSHAPE_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(CylinderShape)
31 
32  class GZ_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 GZ_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 GZ_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 
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