Surface.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_SURFACE_HH_
#define SDF_SURFACE_HH_
 
#include <cstdint>
#include <optional>
 
#include <gz/math/Vector3.hh>
#include <gz/utils/ImplPtr.hh>
#include "sdf/Element.hh"
#include "sdf/Types.hh"
#include "sdf/config.hh"
#include "sdf/system_util.hh"
 
namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  class SDFORMAT_VISIBLE Contact
  {
    public: Contact();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: sdf::ElementPtr Element() const;
 
    public: uint16_t CollideBitmask() const;
 
    public: void SetCollideBitmask(const uint16_t _bitmask);
 
    public: std::optional<uint16_t> CategoryBitmask() const;
 
    public: void SetCategoryBitmask(const uint16_t _bitmask);
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
 
  class SDFORMAT_VISIBLE ODE
  {
    public: ODE();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: double Mu() const;
 
    public: void SetMu(double _mu);
 
    public: double Mu2() const;
 
    public: void SetMu2(double _mu2);
 
    public: const gz::math::Vector3d &Fdir1() const;
 
    public: void SetFdir1(const gz::math::Vector3d &_fdir);
 
    public: double Slip1() const;
 
    public: void SetSlip1(double _slip1);
 
    public: double Slip2() const;
 
    public: void SetSlip2(double _slip2);
 
    public: sdf::ElementPtr Element() const;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
 
  class SDFORMAT_VISIBLE BulletFriction
  {
    public: BulletFriction();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: double Friction() const;
 
    public: void SetFriction(double _friction);
 
    public: double Friction2() const;
 
    public: void SetFriction2(double _friction);
 
    public: const gz::math::Vector3d &Fdir1() const;
 
    public: void SetFdir1(const gz::math::Vector3d &_fdir);
 
    public: double RollingFriction() const;
 
    public: void SetRollingFriction(double _friction);
 
    public: sdf::ElementPtr Element() const;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
 
  class SDFORMAT_VISIBLE Torsional
  {
    public: Torsional();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: double Coefficient() const;
 
    public: void SetCoefficient(double _coefficient);
 
    public: bool UsePatchRadius() const;
 
    public: void SetUsePatchRadius(bool _usePatchRadius);
 
    public: double PatchRadius() const;
 
    public: void SetPatchRadius(double _radius);
 
    public: double SurfaceRadius() const;
 
    public: void SetSurfaceRadius(double _radius);
 
    public: double ODESlip() const;
 
    public: void SetODESlip(double _slip);
 
    public: sdf::ElementPtr Element() const;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
 
  class SDFORMAT_VISIBLE Friction
  {
    public: Friction();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: const sdf::ODE *ODE() const;
 
    public: void SetODE(const sdf::ODE &_ode);
 
    public: const sdf::BulletFriction *BulletFriction() const;
 
    public: void SetBulletFriction(const sdf::BulletFriction &_bullet);
 
    public: const sdf::Torsional *Torsional() const;
 
    public: void SetTorsional(const sdf::Torsional &_torsional);
 
    public: sdf::ElementPtr Element() const;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
 
  class SDFORMAT_VISIBLE Surface
  {
    public: Surface();
 
    public: Errors Load(ElementPtr _sdf);
 
    public: sdf::ElementPtr Element() const;
 
    public: const sdf::Contact *Contact() const;
 
    public: void SetContact(const sdf::Contact &_contact);
 
    public: const sdf::Friction *Friction() const;
 
    public: void SetFriction(const sdf::Friction &_friction);
 
    public: sdf::ElementPtr ToElement() const;
 
    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
 
#endif