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PlaneShape.hh
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1 /*
2  * Copyright (C) 2012-2014 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: Plane shape
18  * Author: Nate Koenig
19  * Date: 14 Oct 2009
20  */
21 
22 #ifndef _PLANESHAPE_HH_
23 #define _PLANESHAPE_HH_
24 
26 #include "gazebo/physics/Shape.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
40  class PlaneShape : public Shape
41  {
44  public: explicit PlaneShape(CollisionPtr _parent);
45 
47  public: virtual ~PlaneShape();
48 
50  public: virtual void Init();
51 
53  public: virtual void CreatePlane();
54 
57  public: virtual void SetAltitude(const math::Vector3 &_pos);
58 
61  public: void SetNormal(const math::Vector3 &_norm);
62 
65  public: math::Vector3 GetNormal() const;
66 
69  public: void SetSize(const math::Vector2d &_size);
70 
73  public: math::Vector2d GetSize() const;
74 
77  public: virtual void SetScale(const math::Vector3 &_scale);
78 
81  public: void FillMsg(msgs::Geometry &_msg);
82 
86  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
87  };
89  }
90 }
91 #endif