SphereShape.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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17 #ifndef GAZEBO_PHYSICS_SPHERESHAPE_HH_
18 #define GAZEBO_PHYSICS_SPHERESHAPE_HH_
19 
20 #include "gazebo/physics/Shape.hh"
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
30 
33  class GZ_PHYSICS_VISIBLE SphereShape : public Shape
34  {
37  public: explicit SphereShape(CollisionPtr _parent);
38 
40  public: virtual ~SphereShape();
41 
43  public: virtual void Init();
44 
47  public: virtual void SetRadius(double _radius);
48 
51  public: double GetRadius() const;
52 
53  // Documentation inherited
54  public: virtual void SetScale(const ignition::math::Vector3d &_scale);
55 
58  public: virtual void FillMsg(msgs::Geometry &_msg);
59 
62  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
63 
65  public: virtual double ComputeVolume() const;
66  };
68  }
69 }
70 #endif
Forward declarations for the common classes.
Definition: Animation.hh:26
Base class for all shapes.
Definition: Shape.hh:39
default namespace for gazebo
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:114
Sphere collision shape.
Definition: SphereShape.hh:33