Geometry.hh

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/*
 * Copyright 2018 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_GEOMETRY_HH_
#define SDF_GEOMETRY_HH_
 
#include <vector>
#include <optional>
 
#include <gz/utils/ImplPtr.hh>
#include <gz/math/Inertial.hh>
#include <gz/math/AxisAlignedBox.hh>
#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/sdf_config.h>
#include <sdf/ParserConfig.hh>
#include <sdf/Types.hh>
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
 
  // Forward declare private data class.
  class Box;
  class Capsule;
  class Cone;
  class Cylinder;
  class Ellipsoid;
  class Heightmap;
  class Mesh;
  class ParserConfig;
  class Plane;
  class Polyline;
  class Sphere;
 
  enum class GeometryType
  {
    EMPTY = 0,
 
    BOX = 1,
 
    CYLINDER = 2,
 
    PLANE = 3,
 
    SPHERE = 4,
 
    MESH = 5,
 
    HEIGHTMAP = 6,
 
    CAPSULE = 7,
 
    ELLIPSOID = 8,
 
    POLYLINE = 9,
 
    CONE = 10,
  };
 
  class SDFORMAT_VISIBLE Geometry
  {
    public: Geometry();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
 
    public: GeometryType Type() const;
 
    public: void SetType(const GeometryType _type);
 
    public: const Box *BoxShape() const;
 
    public: void SetBoxShape(const Box &_box);
 
    public: const Capsule *CapsuleShape() const;
 
    public: void SetCapsuleShape(const Capsule &_capsule);
 
    public: const Cone *ConeShape() const;
 
    public: void SetConeShape(const Cone &_cone);
 
    public: const Cylinder *CylinderShape() const;
 
    public: void SetCylinderShape(const Cylinder &_cylinder);
 
    public: const Ellipsoid *EllipsoidShape() const;
 
    public: void SetEllipsoidShape(const Ellipsoid &_ellipsoid);
 
    public: const Sphere *SphereShape() const;
 
    public: void SetSphereShape(const Sphere &_sphere);
 
    public: const std::vector<Polyline> &PolylineShape() const;
 
    public: void SetPolylineShape(const std::vector<Polyline> &_polyline);
 
    public: const Plane *PlaneShape() const;
 
    public: void SetPlaneShape(const Plane &_plane);
 
    public: const Mesh *MeshShape() const;
 
    public: void SetMeshShape(const Mesh &_mesh);
 
    public: const Heightmap *HeightmapShape() const;
 
    public: void SetHeightmapShape(const Heightmap &_heightmap);
 
    public: std::optional<gz::math::Inertiald> CalculateInertial(
      sdf::Errors &_errors, const ParserConfig &_config,
      double _density, sdf::ElementPtr _autoInertiaParams);
 
    public: std::optional<gz::math::AxisAlignedBox> AxisAlignedBox(
      const Mesh::AxisAlignedBoxCalculator &_meshAabbCalculator) const;
 
    public: sdf::ElementPtr Element() const;
 
    public: sdf::ElementPtr ToElement() const;
 
    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif