CustomInertiaCalcProperties.hh

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/*
 * Copyright 2023 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
 
#ifndef SDF_CUSTOM_INERTIA_CALC_PROPERTIES_HH_
#define SDF_CUSTOM_INERTIA_CALC_PROPERTIES_HH_
 
#include <optional>
 
#include <gz/utils/ImplPtr.hh>
#include <gz/math/Inertial.hh>
 
#include "sdf/Element.hh"
#include "sdf/Mesh.hh"
#include "sdf/config.hh"
#include "sdf/Types.hh"
#include "sdf/Error.hh"
 
namespace sdf
{
inline namespace SDF_VERSION_NAMESPACE
{
 
// Forward Declarations
class Mesh;
 
class SDFORMAT_VISIBLE CustomInertiaCalcProperties
{
  public: CustomInertiaCalcProperties();
 
  public: CustomInertiaCalcProperties(const double _density,
              const sdf::Mesh _mesh,
              const sdf::ElementPtr _calculatorParams);
 
  public: double Density() const;
 
  public: void SetDensity(double _density);
 
  public: const std::optional<sdf::Mesh> &Mesh() const;
 
  public: void SetMesh(sdf::Mesh &_mesh);
 
  public: const sdf::ElementPtr AutoInertiaParams() const;
 
  public: void SetAutoInertiaParams(sdf::ElementPtr _autoInertiaParamsElem);
 
  GZ_UTILS_IMPL_PTR(dataPtr)
};
 
using CustomInertiaCalculator =
    std::function<std::optional<gz::math::Inertiald>(sdf::Errors &,
        const sdf::CustomInertiaCalcProperties &)>;
}
}
 
#endif