Capsule.hh
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17 #ifndef SDF_CAPSULE_HH_
18 #define SDF_CAPSULE_HH_
19 
20 #include <optional>
21 
22 #include <gz/math/Capsule.hh>
23 #include <gz/math/Inertial.hh>
24 #include <gz/utils/ImplPtr.hh>
25 #include <sdf/Error.hh>
26 #include <sdf/Element.hh>
27 #include <sdf/sdf_config.h>
28 
29 namespace sdf
30 {
31  // Inline bracket to help doxygen filtering.
32  inline namespace SDF_VERSION_NAMESPACE {
36  {
38  public: Capsule();
39 
46  public: Errors Load(ElementPtr _sdf);
47 
50  public: double Radius() const;
51 
54  public: void SetRadius(const double _radius);
55 
58  public: double Length() const;
59 
62  public: void SetLength(const double _length);
63 
68  public: sdf::ElementPtr Element() const;
69 
72  public: const gz::math::Capsuled &Shape() const;
73 
76  public: gz::math::Capsuled &Shape();
77 
83  public: std::optional<gz::math::Inertiald> CalculateInertial(
84  double _density);
85 
91  public: sdf::ElementPtr ToElement() const;
92 
99  public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
100 
102  GZ_UTILS_IMPL_PTR(dataPtr)
103  };
104  }
105 }
106 #endif
Capsule represents a capsule shape, and is usually accessed through a Geometry.
Definition: Capsule.hh:36
gz::math::Capsuled & Shape()
Get a mutable Gazebo Math representation of this Capsule.
void SetRadius(const double _radius)
Set the capsule's radius in meters.
sdf::ElementPtr ToElement(sdf::Errors &_errors) const
Create and return an SDF element filled with data from this capsule.
Errors Load(ElementPtr _sdf)
Load the capsule geometry based on a element pointer.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
double Length() const
Get the capsule's length in meters.
double Radius() const
Get the capsule's radius in meters.
std::optional< gz::math::Inertiald > CalculateInertial(double _density)
Calculate and return the Inertial values for the Capsule.
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this capsule.
void SetLength(const double _length)
Set the capsule's length in meters.
const gz::math::Capsuled & Shape() const
Get the Gazebo Math representation of this Capsule.
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