Box.hh
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17 #ifndef SDF_BOX_HH_
18 #define SDF_BOX_HH_
19 
20 #include <optional>
21 
22 #include <gz/math/Box.hh>
23 #include <gz/math/Vector3.hh>
24 #include <gz/math/Inertial.hh>
25 #include <gz/math/AxisAlignedBox.hh>
26 #include <gz/utils/ImplPtr.hh>
27 #include <sdf/Error.hh>
28 #include <sdf/Element.hh>
29 #include <sdf/sdf_config.h>
30 
31 namespace sdf
32 {
33  // Inline bracket to help doxygen filtering.
34  inline namespace SDF_VERSION_NAMESPACE {
38  {
40  public: Box();
41 
48  public: Errors Load(ElementPtr _sdf);
49 
52  public: gz::math::Vector3d Size() const;
53 
56  public: void SetSize(const gz::math::Vector3d &_size);
57 
62  public: sdf::ElementPtr Element() const;
63 
66  public: const gz::math::Boxd &Shape() const;
67 
70  public: gz::math::Boxd &Shape();
71 
77  public: std::optional<gz::math::Inertiald>
78  CalculateInertial(double _density);
79 
83  public: gz::math::AxisAlignedBox AxisAlignedBox() const;
84 
90  public: sdf::ElementPtr ToElement() const;
91 
98  public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
99 
101  GZ_UTILS_IMPL_PTR(dataPtr)
102  };
103  }
104 }
105 
106 #endif
Box represents a box shape, and is usually accessed through a Geometry.
Definition: Box.hh:38
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
gz::math::AxisAlignedBox AxisAlignedBox() const
Get the Axis-aligned box for this Box.
sdf::ElementPtr ToElement(sdf::Errors &_errors) const
Create and return an SDF element filled with data from this box.
const gz::math::Boxd & Shape() const
Get the Gazebo Math representation of this Box.
Errors Load(ElementPtr _sdf)
Load the box geometry based on a element pointer.
gz::math::Vector3d Size() const
Get the box size in meters.
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this box.
std::optional< gz::math::Inertiald > CalculateInertial(double _density)
Calculate and return the Inertial values for the Box.
void SetSize(const gz::math::Vector3d &_size)
Set the box size in meters.
gz::math::Boxd & Shape()
Get a mutable Gazebo Math representation of this Box.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:95
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:55
namespace for Simulation Description Format parser
Definition: Actor.hh:35
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:25