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SimbodyCylinderShape.hh
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1 /*
2  * Copyright 2013 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 
18 #ifndef _SIMBODY_CYLINDERSHAPE_HH_
19 #define _SIMBODY_CYLINDERSHAPE_HH_
20 
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
31 
34  {
37  : CylinderShape(_parent) {}
38 
40  public: virtual ~SimbodyCylinderShape() {}
41 
42  // Documentation inherited
43  public: void SetSize(double _radius, double _length)
44  {
45  if (_radius < 0)
46  {
47  gzerr << "Cylinder shape does not support negative radius\n";
48  return;
49  }
50  if (_length < 0)
51  {
52  gzerr << "Cylinder shape does not support negative length\n";
53  return;
54  }
55  if (math::equal(_radius, 0.0))
56  {
57  // Warn user, but still create shape with very small value
58  // otherwise later resize operations using setLocalScaling
59  // will not be possible
60  gzwarn << "Setting cylinder shape's radius to zero \n";
61  _radius = 1e-4;
62  }
63  if (math::equal(_length, 0.0))
64  {
65  gzwarn << "Setting cylinder shape's length to zero \n";
66  _length = 1e-4;
67  }
68 
69  CylinderShape::SetSize(_radius, _length);
70  SimbodyCollisionPtr bParent;
71  bParent = boost::dynamic_pointer_cast<SimbodyCollision>(
72  this->collisionParent);
73 
74  // set collision shape
75  }
76  };
78  }
79 }
80 #endif