Geometry.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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13  * See the License for the specific language governing permissions and
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17 #ifndef SDF_GEOMETRY_HH_
18 #define SDF_GEOMETRY_HH_
19 
20 #include <ignition/utils/ImplPtr.hh>
21 #include <sdf/Error.hh>
22 #include <sdf/Element.hh>
23 #include <sdf/sdf_config.h>
24 
25 namespace sdf
26 {
27  // Inline bracket to help doxygen filtering.
28  inline namespace SDF_VERSION_NAMESPACE {
29  //
30 
31  // Forward declare private data class.
32  class Box;
33  class Capsule;
34  class Cylinder;
35  class Ellipsoid;
36  class Heightmap;
37  class Mesh;
38  class Plane;
39  class Sphere;
40 
43  enum class GeometryType
44  {
46  EMPTY = 0,
47 
49  BOX = 1,
50 
52  CYLINDER = 2,
53 
55  PLANE = 3,
56 
58  SPHERE = 4,
59 
61  MESH = 5,
62 
64  HEIGHTMAP = 6,
65 
67  CAPSULE = 7,
68 
70  ELLIPSOID = 8,
71  };
72 
78  {
80  public: Geometry();
81 
88  public: Errors Load(ElementPtr _sdf);
89 
92  public: GeometryType Type() const;
93 
96  public: void SetType(const GeometryType _type);
97 
103  public: const Box *BoxShape() const;
104 
107  public: void SetBoxShape(const Box &_box);
108 
114  public: const Capsule *CapsuleShape() const;
115 
118  public: void SetCapsuleShape(const Capsule &_capsule);
119 
125  public: const Cylinder *CylinderShape() const;
126 
129  public: void SetCylinderShape(const Cylinder &_cylinder);
130 
136  public: const Ellipsoid *EllipsoidShape() const;
137 
140  public: void SetEllipsoidShape(const Ellipsoid &_ellipsoid);
141 
147  public: const Sphere *SphereShape() const;
148 
151  public: void SetSphereShape(const Sphere &_sphere);
152 
158  public: const Plane *PlaneShape() const;
159 
162  public: void SetPlaneShape(const Plane &_plane);
163 
169  public: const Mesh *MeshShape() const;
170 
173  public: void SetMeshShape(const Mesh &_mesh);
174 
180  public: const Heightmap *HeightmapShape() const;
181 
184  public: void SetHeightmapShape(const Heightmap &_heightmap);
185 
190  public: sdf::ElementPtr Element() const;
191 
193  IGN_UTILS_IMPL_PTR(dataPtr)
194  };
195  }
196 }
197 #endif
Box represents a box shape, and is usually accessed through a Geometry.
Definition: Box.hh:34
Capsule represents a capsule shape, and is usually accessed through a Geometry.
Definition: Capsule.hh:33
Cylinder represents a cylinder shape, and is usually accessed through a Geometry.
Definition: Cylinder.hh:33
Ellipsoid represents a ellipsoid shape, and is usually accessed through a Geometry.
Definition: Ellipsoid.hh:33
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:78
const Mesh * MeshShape() const
Get the mesh geometry, or nullptr if the contained geometry is not a mesh.
void SetHeightmapShape(const Heightmap &_heightmap)
Set the heightmap shape.
void SetMeshShape(const Mesh &_mesh)
Set the mesh shape.
GeometryType Type() const
Get the type of geometry.
void SetPlaneShape(const Plane &_plane)
Set the plane shape.
const Heightmap * HeightmapShape() const
Get the heightmap geometry, or nullptr if the contained geometry is not a heightmap.
const Plane * PlaneShape() const
Get the plane geometry, or nullptr if the contained geometry is not a plane.
void SetSphereShape(const Sphere &_sphere)
Set the sphere shape.
Geometry()
Default constructor.
void SetCylinderShape(const Cylinder &_cylinder)
Set the cylinder shape.
void SetEllipsoidShape(const Ellipsoid &_ellipsoid)
Set the ellipsoid shape.
void SetBoxShape(const Box &_box)
Set the box shape.
const Ellipsoid * EllipsoidShape() const
Get the ellipsoid geometry, or nullptr if the contained geometry is not an ellipsoid.
Errors Load(ElementPtr _sdf)
Load the geometry based on a element pointer.
void SetCapsuleShape(const Capsule &_capsule)
Set the capsule shape.
const Cylinder * CylinderShape() const
Get the cylinder geometry, or nullptr if the contained geometry is not a cylinder.
void SetType(const GeometryType _type)
Set the type of geometry.
const Box * BoxShape() const
Get the box geometry, or nullptr if the contained geometry is not a box.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
const Capsule * CapsuleShape() const
Get the capsule geometry, or nullptr if the contained geometry is not a capsule.
const Sphere * SphereShape() const
Get the sphere geometry, or nullptr if the contained geometry is not a sphere.
Heightmap represents a shape defined by a 2D field, and is usually accessed through a Geometry.
Definition: Heightmap.hh:120
Mesh represents a mesh shape, and is usually accessed through a Geometry.
Definition: Mesh.hh:36
Plane represents a plane shape, and is usually accessed through a Geometry.
Definition: Plane.hh:37
Sphere represents a sphere shape, and is usually accessed through a Geometry.
Definition: Sphere.hh:34
GeometryType
The set of geometry types.
Definition: Geometry.hh:44
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
namespace for Simulation Description Format parser
Definition: Actor.hh:34
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:41