PolylineShape.hh
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2  * Copyright (C) 2014 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef GAZEBO_PHYSICS_POLYLINESHAPE_HH_
18 #define GAZEBO_PHYSICS_POLYLINESHAPE_HH_
19 
20 #include <vector>
21 #include "gazebo/physics/Shape.hh"
22 
23 namespace gazebo
24 {
25  namespace physics
26  {
29 
32  class GZ_PHYSICS_VISIBLE PolylineShape : public Shape
33  {
36  public: explicit PolylineShape(CollisionPtr _parent);
37 
39  public: virtual ~PolylineShape();
40 
42  public: virtual void Init();
43 
49  public: std::vector<std::vector<ignition::math::Vector2d> >
50  Vertices() const;
51 
54  public: double GetHeight() const;
55 
58  public: void FillMsg(msgs::Geometry &_msg);
59 
62  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
63 
66  private: virtual void SetScale(const ignition::math::Vector3d &_scale);
67 
75  private: virtual void SetVertices(
76  const std::vector<std::vector<ignition::math::Vector2d> >
77  &_vertices);
78 
81  private: virtual void SetVertices(const msgs::Geometry &_msg);
82 
87  private: void SetPolylineShape(const double &_height,
88  const std::vector<std::vector<ignition::math::Vector2d> >
89  &_vertices);
90 
94  private: virtual void SetHeight(const double &_height);
95 
97  protected: const common::Mesh *mesh;
98  };
100  }
101 }
102 #endif
A 3D mesh.
Definition: Mesh.hh:42
Forward declarations for the common classes.
Definition: Animation.hh:26
Base class for all shapes.
Definition: Shape.hh:39
const common::Mesh * mesh
Pointer to the mesh data.
Definition: PolylineShape.hh:97
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Polyline geometry primitive.
Definition: PolylineShape.hh:32
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:114