Gazebo Physics
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7.4.0
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src
gz-physics
include
gz
physics
GetBoundingBox.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2020 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_PHYSICS_GETBOUNDINGBOX_HH_
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#define GZ_PHYSICS_GETBOUNDINGBOX_HH_
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#include <
gz/physics/FeatureList.hh
>
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#include <
gz/physics/FrameSemantics.hh
>
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#include <
gz/physics/GetEntities.hh
>
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#include <
gz/physics/Shape.hh
>
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namespace
gz
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{
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namespace
physics
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{
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using
GetLinkBoundingBoxRequiredFeatures
=
FeatureList
<
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GetShapeBoundingBox
,
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GetShapeFromLink
,
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LinkFrameSemantics
>;
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class
GZ_PHYSICS_VISIBLE
GetLinkBoundingBox
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:
public
virtual
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FeatureWithRequirements
<GetLinkBoundingBoxRequiredFeatures>
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{
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public
:
template
<
typename
PolicyT,
typename
FeaturesT>
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class
Link
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:
public
virtual
GetShapeFromLink::Link
<PolicyT, FeaturesT>
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{
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public
:
using
AlignedBoxType
=
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typename
FromPolicy<PolicyT>::template
Use<AlignedBox>;
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public
:
AlignedBoxType
GetAxisAlignedBoundingBox
(
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const
FrameID
&_referenceFrame =
FrameID::World
())
const
;
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};
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};
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using
GetModelBoundingBoxRequiredFeatures
=
FeatureList
<
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GetLinkBoundingBox
,
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GetLinkFromModel
,
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ModelFrameSemantics
>;
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class
GZ_PHYSICS_VISIBLE
GetModelBoundingBox
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:
public
virtual
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FeatureWithRequirements
<GetModelBoundingBoxRequiredFeatures>
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{
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public
:
template
<
typename
PolicyT,
typename
FeaturesT>
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class
Model
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:
public
virtual
GetLinkFromModel::Model
<PolicyT, FeaturesT>
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{
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public
:
using
AlignedBoxType
=
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typename
FromPolicy<PolicyT>::template
Use<AlignedBox>;
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public
:
AlignedBoxType
GetAxisAlignedBoundingBox
(
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const
FrameID
&_referenceFrame =
FrameID::World
())
const
;
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};
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};
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// see Shape.hh for GetShapeBoundingBox
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}
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}
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#include <gz/physics/detail/GetBoundingBox.hh>
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#endif