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SphereShape.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 /* Desc: Sphere shape
18  * Author: Nate Koenig
19  * Date: 14 Oct 2009
20  */
21 
22 #ifndef _SPHERESHAPE_HH_
23 #define _SPHERESHAPE_HH_
24 
25 #include "gazebo/physics/Shape.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
37  class SphereShape : public Shape
38  {
41  public: explicit SphereShape(CollisionPtr _parent);
42 
44  public: virtual ~SphereShape();
45 
47  public: virtual void Init();
48 
51  public: virtual void SetRadius(double _radius);
52 
55  public: double GetRadius() const;
56 
59  public: virtual void FillMsg(msgs::Geometry &_msg);
60 
63  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
64 
66  public: virtual double GetMass(double _density) const GAZEBO_DEPRECATED;
67 
69  public: virtual void GetInertial(double _mass, InertialPtr _inertial)
70  const GAZEBO_DEPRECATED;
71  };
73  }
74 }
75 #endif