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CylinderShape.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: 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 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
38  {
41  public: explicit CylinderShape(CollisionPtr _parent);
42 
44  public: virtual ~CylinderShape();
45 
47  public: void Init();
48 
51  public: void SetRadius(double _radius);
52 
55  public: void SetLength(double _length);
56 
59  public: double GetRadius() const;
60 
63  public: double GetLength() const;
64 
68  public: virtual void SetSize(double _radius, double _length);
69 
72  public: virtual void SetScale(const math::Vector3 &_scale);
73 
76  public: void FillMsg(msgs::Geometry &_msg);
77 
80  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
81  };
83  }
84 }
85 #endif