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gazebo
physics
simbody
SimbodySphereShape.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2012-2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _SIMBODY_SPHERE_SHAPE_HH_
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#define _SIMBODY_SPHERE_SHAPE_HH_
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#include "
gazebo/physics/SphereShape.hh
"
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namespace
gazebo
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{
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namespace
physics
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{
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class
SimbodySphereShape
:
public
SphereShape
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{
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public
:
SimbodySphereShape
(
CollisionPtr
_parent) :
SphereShape
(_parent) {}
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public
:
virtual
~SimbodySphereShape
() {}
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// Documentation inherited.
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public
:
virtual
void
SetRadius
(
double
_radius)
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{
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if
(_radius < 0)
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{
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gzerr
<<
"Sphere shape does not support negative radius\n"
;
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return
;
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}
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if
(
math::equal
(_radius, 0.0))
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{
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// Warn user, but still create shape with very small value
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// otherwise later resize operations using setLocalScaling
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// will not be possible
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gzwarn
<<
"Setting sphere shape's radius to zero \n"
;
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_radius = 1e-4;
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}
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SphereShape::SetRadius
(_radius);
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SimbodyCollisionPtr
bParent;
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bParent = boost::dynamic_pointer_cast<
SimbodyCollision
>(
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this->
collisionParent
);
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// set collision shape
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}
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};
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}
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}
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#endif