Ellipsoid.hh

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/*
 * Copyright 2020 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_ELLIPSOID_HH_
#define SDF_ELLIPSOID_HH_
 
#include <optional>
 
#include <gz/math/Inertial.hh>
#include <gz/math/Ellipsoid.hh>
#include <gz/utils/ImplPtr.hh>
#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/sdf_config.h>
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  class SDFORMAT_VISIBLE Ellipsoid
  {
    public: Ellipsoid();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: gz::math::Vector3d Radii() const;
 
    public: void SetRadii(const gz::math::Vector3d &_radii);
 
    public: sdf::ElementPtr Element() const;
 
    public: const gz::math::Ellipsoidd &Shape() const;
 
    public: gz::math::Ellipsoidd &Shape();
 
    public: std::optional<gz::math::Inertiald>
            CalculateInertial(double _density);
 
    public: sdf::ElementPtr ToElement() const;
 
    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif