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Shape.hh
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1 /*
2  * Copyright 2012 Nate Koenig
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef _SHAPE_HH_
18 #define _SHAPE_HH_
19 
20 #include <string>
21 
22 #include "gazebo/msgs/msgs.hh"
23 
25 
28 #include "gazebo/physics/Base.hh"
29 
30 namespace gazebo
31 {
32  namespace physics
33  {
36 
39  class Shape : public Base
40  {
43  public: explicit Shape(CollisionPtr _parent);
44 
46  public: virtual ~Shape();
47 
49  public: virtual void Init() = 0;
50 
52  public: virtual double GetMass(double _density) const GAZEBO_DEPRECATED
53  {return _density;}
54 
56  public: virtual void GetInertial(double _mass, InertialPtr _inertial)
57  const GAZEBO_DEPRECATED;
58 
60  public: virtual void FillShapeMsg(msgs::Geometry &_msg)
62 
65  public: virtual void FillMsg(msgs::Geometry &_msg) = 0;
66 
69  public: virtual void ProcessMsg(const msgs::Geometry &_msg) = 0;
70 
73  };
75  }
76 }
77 #endif