Geometry provides access to a shape, such as a Box. More...

#include <Geometry.hh>

Public Member Functions
	Geometry ()
	Default constructor.

const Box *	BoxShape () const
	Get the box geometry, or nullptr if the contained geometry is not a box.

std::optional< gz::math::Inertiald >	CalculateInertial (sdf::Errors &_errors, const ParserConfig &_config, double _density, sdf::ElementPtr _autoInertiaParams)
	Calculate and return the Inertial values for the Geometry.

const Capsule *	CapsuleShape () const
	Get the capsule geometry, or nullptr if the contained geometry is not a capsule.

const Cone *	ConeShape () const
	Get the cone geometry, or nullptr if the contained geometry is not a cone.

const Cylinder *	CylinderShape () const
	Get the cylinder geometry, or nullptr if the contained geometry is not a cylinder.

sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load.

const Ellipsoid *	EllipsoidShape () const
	Get the ellipsoid geometry, or nullptr if the contained geometry is not an ellipsoid.

const Heightmap *	HeightmapShape () const
	Get the heightmap geometry, or nullptr if the contained geometry is not a heightmap.

Errors	Load (ElementPtr _sdf)
	Load the geometry based on a element pointer.

Errors	Load (sdf::ElementPtr _sdf, const ParserConfig &_config)
	Load the geometry based on a element pointer.

const Mesh *	MeshShape () const
	Get the mesh geometry, or nullptr if the contained geometry is not a mesh.

const Plane *	PlaneShape () const
	Get the plane geometry, or nullptr if the contained geometry is not a plane.

const std::vector< Polyline > &	PolylineShape () const
	Get the polyline geometry.

void	SetBoxShape (const Box &_box)
	Set the box shape.

void	SetCapsuleShape (const Capsule &_capsule)
	Set the capsule shape.

void	SetConeShape (const Cone &_cone)
	Set the cone shape.

void	SetCylinderShape (const Cylinder &_cylinder)
	Set the cylinder shape.

void	SetEllipsoidShape (const Ellipsoid &_ellipsoid)
	Set the ellipsoid shape.

void	SetHeightmapShape (const Heightmap &_heightmap)
	Set the heightmap shape.

void	SetMeshShape (const Mesh &_mesh)
	Set the mesh shape.

void	SetPlaneShape (const Plane &_plane)
	Set the plane shape.

void	SetPolylineShape (const std::vector< Polyline > &_polyline)
	Set the polyline shape.

void	SetSphereShape (const Sphere &_sphere)
	Set the sphere shape.

void	SetType (const GeometryType _type)
	Set the type of geometry.

const Sphere *	SphereShape () const
	Get the sphere geometry, or nullptr if the contained geometry is not a sphere.

sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this geometry.

sdf::ElementPtr	ToElement (sdf::Errors &_errors) const
	Create and return an SDF element filled with data from this geometry.

GeometryType	Type () const
	Get the type of geometry.

Detailed Description

Geometry provides access to a shape, such as a Box.

Use the Type function to determine the type of shape contained within a Geometry. Access to shape data, such as a box's size, is achieved through the shape accessors, such as const Box *BoxShape() const.

Constructor & Destructor Documentation

◆ Geometry()

sdf::SDF_VERSION_NAMESPACE::Geometry::Geometry ( )

Default constructor.

Member Function Documentation

◆ BoxShape()

const Box * sdf::SDF_VERSION_NAMESPACE::Geometry::BoxShape ( ) const

Get the box geometry, or nullptr if the contained geometry is not a box.

Returns: Pointer to the visual's box geometry, or nullptr if the geometry is not a box.

See also: GeometryType Type() const

◆ CalculateInertial()

std::optional< gz::math::Inertiald > sdf::SDF_VERSION_NAMESPACE::Geometry::CalculateInertial	(	sdf::Errors &	_errors,
		const ParserConfig &	_config,
		double	_density,
		sdf::ElementPtr	_autoInertiaParams
	)

Calculate and return the Inertial values for the Geometry.

Parameters

[out]	_errors	A vector of Errors object. Each object would contain an error code and an error message.
[in]	_config	Parser Config
[in]	_density	The density of the geometry element.
[in]	_autoInertiaParams	ElementPtr to <auto_inertia_params>

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

◆ CapsuleShape()

const Capsule * sdf::SDF_VERSION_NAMESPACE::Geometry::CapsuleShape ( ) const

Get the capsule geometry, or nullptr if the contained geometry is not a capsule.

Returns: Pointer to the capsule geometry, or nullptr if the geometry is not a capsule.

See also: GeometryType Type() const

◆ ConeShape()

const Cone * sdf::SDF_VERSION_NAMESPACE::Geometry::ConeShape ( ) const

Get the cone geometry, or nullptr if the contained geometry is not a cone.

Returns: Pointer to the visual's cone geometry, or nullptr if the geometry is not a cone.

See also: GeometryType Type() const

◆ CylinderShape()

const Cylinder * sdf::SDF_VERSION_NAMESPACE::Geometry::CylinderShape ( ) const

Get the cylinder geometry, or nullptr if the contained geometry is not a cylinder.

Returns: Pointer to the visual's cylinder geometry, or nullptr if the geometry is not a cylinder.

See also: GeometryType Type() const

◆ Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Geometry::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.

◆ EllipsoidShape()

const Ellipsoid * sdf::SDF_VERSION_NAMESPACE::Geometry::EllipsoidShape ( ) const

Get the ellipsoid geometry, or nullptr if the contained geometry is not an ellipsoid.

Returns: Pointer to the ellipsoid geometry, or nullptr if the geometry is not an ellipsoid.

See also: GeometryType Type() const

◆ HeightmapShape()

const Heightmap * sdf::SDF_VERSION_NAMESPACE::Geometry::HeightmapShape ( ) const

Get the heightmap geometry, or nullptr if the contained geometry is not a heightmap.

Returns: Pointer to the heightmap geometry, or nullptr if the geometry is not a heightmap.

See also: GeometryType Type() const

◆ Load() [1/2]

Errors sdf::SDF_VERSION_NAMESPACE::Geometry::Load ( ElementPtr _sdf )

Load the 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.

◆ Load() [2/2]

Errors sdf::SDF_VERSION_NAMESPACE::Geometry::Load	(	sdf::ElementPtr	_sdf,
		const ParserConfig &	_config
	)

Load the 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
[in]	_config	Parser configuration

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

◆ MeshShape()

const Mesh * sdf::SDF_VERSION_NAMESPACE::Geometry::MeshShape ( ) const

Get the mesh geometry, or nullptr if the contained geometry is not a mesh.

Returns: Pointer to the visual's mesh geometry, or nullptr if the geometry is not a mesh.

See also: GeometryType Type() const

◆ PlaneShape()

const Plane * sdf::SDF_VERSION_NAMESPACE::Geometry::PlaneShape ( ) const

Get the plane geometry, or nullptr if the contained geometry is not a plane.

Returns: Pointer to the visual's plane geometry, or nullptr if the geometry is not a plane.

See also: GeometryType Type() const

◆ PolylineShape()

const std::vector< Polyline > & sdf::SDF_VERSION_NAMESPACE::Geometry::PolylineShape ( ) const

Get the polyline geometry.

Vector is empty if the contained geometry is not a polyline.

Returns: The visual's polyline geometries.

See also: GeometryType Type() const

◆ SetBoxShape()

void sdf::SDF_VERSION_NAMESPACE::Geometry::SetBoxShape ( const Box & _box )

Set the box shape.

Parameters

[in] _box The box shape.

◆ SetCapsuleShape()

void sdf::SDF_VERSION_NAMESPACE::Geometry::SetCapsuleShape ( const Capsule & _capsule )

Set the capsule shape.

Parameters

[in] _capsule The capsule shape.

◆ SetConeShape()

void sdf::SDF_VERSION_NAMESPACE::Geometry::SetConeShape ( const Cone & _cone )

Set the cone shape.

Parameters

[in] _cone The cone shape.

◆ SetCylinderShape()

void sdf::SDF_VERSION_NAMESPACE::Geometry::SetCylinderShape ( const Cylinder & _cylinder )

Set the cylinder shape.

Parameters

[in] _cylinder The cylinder shape.

◆ SetEllipsoidShape()

void sdf::SDF_VERSION_NAMESPACE::Geometry::SetEllipsoidShape ( const Ellipsoid & _ellipsoid )

Set the ellipsoid shape.

Parameters

[in] _ellipsoid The ellipsoid shape.

◆ SetHeightmapShape()

void sdf::SDF_VERSION_NAMESPACE::Geometry::SetHeightmapShape ( const Heightmap & _heightmap )

Set the heightmap shape.

Parameters

[in] _heightmap The heightmap shape.

◆ SetMeshShape()

void sdf::SDF_VERSION_NAMESPACE::Geometry::SetMeshShape ( const Mesh & _mesh )

Set the mesh shape.

Parameters

[in] _mesh The mesh shape.

◆ SetPlaneShape()

void sdf::SDF_VERSION_NAMESPACE::Geometry::SetPlaneShape ( const Plane & _plane )

Set the plane shape.

Parameters

[in] _plane The plane shape.

◆ SetPolylineShape()

void sdf::SDF_VERSION_NAMESPACE::Geometry::SetPolylineShape ( const std::vector< Polyline > & _polyline )

Set the polyline shape.

Parameters

[in] _polyline The polyline shape.

◆ SetSphereShape()

void sdf::SDF_VERSION_NAMESPACE::Geometry::SetSphereShape ( const Sphere & _sphere )

Set the sphere shape.

Parameters

[in] _sphere The sphere shape.

◆ SetType()

void sdf::SDF_VERSION_NAMESPACE::Geometry::SetType ( const GeometryType _type )

Set the type of geometry.

Parameters

[in] _type The geometry type.

◆ SphereShape()

const Sphere * sdf::SDF_VERSION_NAMESPACE::Geometry::SphereShape ( ) const

Get the sphere geometry, or nullptr if the contained geometry is not a sphere.

Returns: Pointer to the visual's sphere geometry, or nullptr if the geometry is not a sphere.

See also: GeometryType Type() const

◆ ToElement() [1/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Geometry::ToElement ( ) const

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

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

Returns: SDF element pointer with updated geometry values.

◆ ToElement() [2/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Geometry::ToElement ( sdf::Errors & _errors ) const

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

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

Parameters

[out] _errors Vector of errors.

Returns: SDF element pointer with updated geometry values.

◆ Type()

GeometryType sdf::SDF_VERSION_NAMESPACE::Geometry::Type ( ) const

Get the type of geometry.

Returns: The geometry type.

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

Geometry.hh

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Geometry()

Member Function Documentation

◆ BoxShape()

◆ CalculateInertial()

◆ CapsuleShape()

◆ ConeShape()

◆ CylinderShape()

◆ Element()

◆ EllipsoidShape()

◆ HeightmapShape()

◆ Load() [1/2]

◆ Load() [2/2]

◆ MeshShape()

◆ PlaneShape()

◆ PolylineShape()

◆ SetBoxShape()

◆ SetCapsuleShape()

◆ SetConeShape()

◆ SetCylinderShape()

◆ SetEllipsoidShape()

◆ SetHeightmapShape()

◆ SetMeshShape()

◆ SetPlaneShape()

◆ SetPolylineShape()

◆ SetSphereShape()

◆ SetType()

◆ SphereShape()

◆ ToElement() [1/2]

◆ ToElement() [2/2]

◆ Type()