17 #ifndef SDF_CAPSULE_HH_
18 #define SDF_CAPSULE_HH_
22 #include <gz/math/Capsule.hh>
23 #include <gz/math/Inertial.hh>
24 #include <gz/utils/ImplPtr.hh>
32 inline namespace SDF_VERSION_NAMESPACE {
72 public:
const gz::math::Capsuled &
Shape()
const;
76 public: gz::math::Capsuled &
Shape();
102 GZ_UTILS_IMPL_PTR(dataPtr)
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