sdf::SDF_VERSION_NAMESPACE::Sphere Class Reference

Sphere represents a sphere shape, and is usually accessed through a Geometry. More...

#include <Sphere.hh>

Public Member Functions
	Sphere ()
	Constructor. More...
std::optional< gz::math::Inertiald >	CalculateInertial (double _density)
	Calculate and return the Inertial values for the Sphere. More...
sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load. More...
Errors	Load (ElementPtr _sdf)
	Load the sphere geometry based on a element pointer. More...
double	Radius () const
	Get the sphere's radius in meters. More...
void	SetRadius (const double _radius)
	Set the sphere's radius in meters. More...
gz::math::Sphered &	Shape ()
	Get a mutable Gazebo Math representation of this Sphere. More...
const gz::math::Sphered &	Shape () const
	Get the Gazebo Math representation of this Sphere. More...
sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this sphere. More...
sdf::ElementPtr	ToElement (sdf::Errors &_errors) const
	Create and return an SDF element filled with data from this sphere. More...

Detailed Description

Sphere represents a sphere shape, and is usually accessed through a Geometry.

Constructor & Destructor Documentation

Sphere()

sdf::SDF_VERSION_NAMESPACE::Sphere::Sphere

(

)

Constructor.

Member Function Documentation

CalculateInertial()

std::optional<gz::math::Inertiald> sdf::SDF_VERSION_NAMESPACE::Sphere::CalculateInertial

(

double

_density

)

Calculate and return the Inertial values for the Sphere.

In order to calculate the inertial properties, the function mutates the object by updating its material properties.

Parameters

[in]

_density

Density of the sphere in kg/m^3

Returns

A std::optional with gz::math::Inertiald object or std::nullopt

Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Sphere::Element

(

)

const

Get a pointer to the SDF element that was used during load.

Returns

SDF element pointer. The value will be nullptr if Load has not been called.

Load()

Errors sdf::SDF_VERSION_NAMESPACE::Sphere::Load

(

ElementPtr

_sdf

)

Load the sphere geometry based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in]

_sdf

The SDF Element pointer

Returns

Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

Radius()

double sdf::SDF_VERSION_NAMESPACE::Sphere::Radius

(

)

const

Get the sphere's radius in meters.

Returns

The radius of the sphere in meters.

SetRadius()

void sdf::SDF_VERSION_NAMESPACE::Sphere::SetRadius

(

const double

_radius

)

Set the sphere's radius in meters.

Parameters

[in]

_radius

The radius of the sphere in meters.

Shape() [1/2]

gz::math::Sphered& sdf::SDF_VERSION_NAMESPACE::Sphere::Shape

(

)

Get a mutable Gazebo Math representation of this Sphere.

Returns

A reference to a gz::math::Sphered object.

Shape() [2/2]

const gz::math::Sphered& sdf::SDF_VERSION_NAMESPACE::Sphere::Shape

(

)

const

Get the Gazebo Math representation of this Sphere.

Returns

A const reference to a gz::math::Sphered object.

ToElement() [1/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Sphere::ToElement

(

)

const

Create and return an SDF element filled with data from this sphere.

Note that parameter passing functionality is not captured with this function.

Returns

SDF element pointer with updated sphere values.

ToElement() [2/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Sphere::ToElement

(

sdf::Errors &

_errors

)

const

Create and return an SDF element filled with data from this sphere.

Note that parameter passing functionality is not captured with this function.

Parameters

[out]

_errors

Vector of errors.

Returns

SDF element pointer with updated sphere values.

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The documentation for this class was generated from the following file:

• Sphere.hh