17 #ifndef SDF_ELLIPSOID_HH_
18 #define SDF_ELLIPSOID_HH_
22 #include <gz/math/Inertial.hh>
23 #include <gz/math/Ellipsoid.hh>
24 #include <gz/utils/ImplPtr.hh>
32 inline namespace SDF_VERSION_NAMESPACE {
50 public: gz::math::Vector3d
Radii()
const;
54 public:
void SetRadii(
const gz::math::Vector3d &_radii);
64 public:
const gz::math::Ellipsoidd &
Shape()
const;
68 public: gz::math::Ellipsoidd &
Shape();
75 public: std::optional<gz::math::Inertiald>
94 GZ_UTILS_IMPL_PTR(dataPtr)
Ellipsoid represents a ellipsoid shape, and is usually accessed through a Geometry.
Definition: Ellipsoid.hh:36
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this ellipsoid.
void SetRadii(const gz::math::Vector3d &_radii)
Set the ellipsoid's x, y, and z radii in meters.
gz::math::Vector3d Radii() const
Get the ellipsoid's radii in meters.
std::optional< gz::math::Inertiald > CalculateInertial(double _density)
Calculate and return the Inertial values for the Ellipsoid.
const gz::math::Ellipsoidd & Shape() const
Get the Gazebo Math representation of this Ellipsoid.
Errors Load(ElementPtr _sdf)
Load the ellipsoid geometry based on a element pointer.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
gz::math::Ellipsoidd & Shape()
Get a mutable Gazebo Math representation of this Ellipsoid.
sdf::ElementPtr ToElement(sdf::Errors &_errors) const
Create and return an SDF element filled with data from this ellipsoid.
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