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Shape.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 #ifndef _SHAPE_HH_
18 #define _SHAPE_HH_
19 
20 #include <string>
21 
22 #include "gazebo/msgs/msgs.hh"
23 
25 
28 #include "gazebo/physics/Base.hh"
29 #include "gazebo/util/system.hh"
30 
31 namespace gazebo
32 {
33  namespace physics
34  {
37 
40  class GAZEBO_VISIBLE Shape : public Base
41  {
44  public: explicit Shape(CollisionPtr _parent);
45 
47  public: virtual ~Shape();
48 
50  public: virtual void Init() = 0;
51 
54  public: virtual void SetScale(const math::Vector3 &_scale) = 0;
55 
58  public: virtual math::Vector3 GetScale() const;
59 
62  public: virtual void FillMsg(msgs::Geometry &_msg) = 0;
63 
66  public: virtual void ProcessMsg(const msgs::Geometry &_msg) = 0;
67 
70 
72  protected: math::Vector3 scale;
73  };
75  }
76 }
77 #endif