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CylinderShape.hh
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1 /*
2  * Copyright 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
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: Cylinder geometry
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 8 May 2003
20  */
21 
22 #ifndef _CYLINDERSHAPE_HH_
23 #define _CYLINDERSHAPE_HH_
24 
25 #include "gazebo/physics/Shape.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
36  class CylinderShape : public Shape
37  {
40  public: explicit CylinderShape(CollisionPtr _parent);
41 
43  public: virtual ~CylinderShape();
44 
46  public: void Init();
47 
50  public: void SetRadius(double _radius);
51 
54  public: void SetLength(double _length);
55 
58  public: double GetRadius() const;
59 
62  public: double GetLength() const;
63 
67  public: virtual void SetSize(double _radius, double _length);
68 
71  public: virtual void SetScale(const math::Vector3 &_scale);
72 
75  public: void FillMsg(msgs::Geometry &_msg);
76 
79  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
80  };
82  }
83 }
84 #endif