SphereShape.hh
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1 /*
2  * Copyright (C) 2012-2015 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: Sphere shape
18  * Author: Nate Koenig
19  * Date: 14 Oct 2009
20  */
21 
22 #ifndef _SPHERESHAPE_HH_
23 #define _SPHERESHAPE_HH_
24 
25 #include "gazebo/physics/Shape.hh"
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35 
39  {
42  public: explicit SphereShape(CollisionPtr _parent);
43 
45  public: virtual ~SphereShape();
46 
48  public: virtual void Init();
49 
52  public: virtual void SetRadius(double _radius);
53 
56  public: double GetRadius() const;
57 
60  public: virtual void SetScale(const math::Vector3 &_scale);
61 
64  public: virtual void FillMsg(msgs::Geometry &_msg);
65 
68  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
69  };
71  }
72 }
73 #endif
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:43
Base class for all shapes.
Definition: Shape.hh:40
default namespace for gazebo
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:94
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
Sphere collision shape.
Definition: SphereShape.hh:38