Sphere.hh
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17 #ifndef SDF_SPHERE_HH_
18 #define SDF_SPHERE_HH_
19 
20 #include <optional>
21 
22 #include <gz/math/Inertial.hh>
23 #include <gz/math/Sphere.hh>
24 #include <gz/utils/ImplPtr.hh>
25 
26 #include <sdf/Error.hh>
27 #include <sdf/Element.hh>
28 #include <sdf/sdf_config.h>
29 
30 namespace sdf
31 {
32  // Inline bracket to help doxygen filtering.
33  inline namespace SDF_VERSION_NAMESPACE {
37  {
39  public: Sphere();
40 
47  public: Errors Load(ElementPtr _sdf);
48 
51  public: double Radius() const;
52 
55  public: void SetRadius(const double _radius);
56 
59  public: const gz::math::Sphered &Shape() const;
60 
63  public: gz::math::Sphered &Shape();
64 
69  public: sdf::ElementPtr Element() const;
70 
76  public: std::optional<gz::math::Inertiald>
77  CalculateInertial(double _density);
78 
84  public: sdf::ElementPtr ToElement() const;
85 
92  public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
93 
95  GZ_UTILS_IMPL_PTR(dataPtr)
96  };
97  }
98 }
99 #endif
Sphere represents a sphere shape, and is usually accessed through a Geometry.
Definition: Sphere.hh:37
void SetRadius(const double _radius)
Set the sphere's radius in meters.
gz::math::Sphered & Shape()
Get a mutable Gazebo Math representation of this Sphere.
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this sphere.
Errors Load(ElementPtr _sdf)
Load the sphere geometry based on a element pointer.
std::optional< gz::math::Inertiald > CalculateInertial(double _density)
Calculate and return the Inertial values for the Sphere.
sdf::ElementPtr ToElement(sdf::Errors &_errors) const
Create and return an SDF element filled with data from this sphere.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
double Radius() const
Get the sphere's radius in meters.
const gz::math::Sphered & Shape() const
Get the Gazebo Math representation of this Sphere.
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