Class
List
Hierarchy
Modules
Common
Events
Math
Messages
Physics
Rendering
Sensors
Transport
Links
Gazebo Website
Wiki
Tutorials
Download
All
Classes
Namespaces
Files
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
Macros
Groups
Pages
gazebo
physics
Shape.hh
Go to the documentation of this file.
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
24
#include "
gazebo/common/CommonTypes.hh
"
25
26
#include "
gazebo/physics/PhysicsTypes.hh
"
27
#include "
gazebo/physics/Inertial.hh
"
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)
61
GAZEBO_DEPRECATED
;
62
65
public
:
virtual
void
FillMsg
(msgs::Geometry &_msg) = 0;
66
69
public
:
virtual
void
ProcessMsg
(
const
msgs::Geometry &_msg) = 0;
70
72
protected
:
CollisionPtr
collisionParent
;
73
};
75
}
76
}
77
#endif