17 #ifndef SDF_SPHERE_HH_
18 #define SDF_SPHERE_HH_
22 #include <gz/math/Inertial.hh>
23 #include <gz/math/Sphere.hh>
24 #include <gz/utils/ImplPtr.hh>
33 inline namespace SDF_VERSION_NAMESPACE {
59 public:
const gz::math::Sphered &
Shape()
const;
63 public: gz::math::Sphered &
Shape();
76 public: std::optional<gz::math::Inertiald>
95 GZ_UTILS_IMPL_PTR(dataPtr)
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