PlaneShape.hh
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1 /*
2  * Copyright (C) 2012-2016 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 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35 
42  {
45  public: explicit PlaneShape(CollisionPtr _parent);
46 
48  public: virtual ~PlaneShape();
49 
51  public: virtual void Init();
52 
54  public: virtual void CreatePlane();
55 
58  public: virtual void SetAltitude(const math::Vector3 &_pos);
59 
62  public: void SetNormal(const math::Vector3 &_norm);
63 
66  public: math::Vector3 GetNormal() const;
67 
70  public: void SetSize(const math::Vector2d &_size);
71 
74  public: math::Vector2d GetSize() const;
75 
78  public: virtual void SetScale(const math::Vector3 &_scale);
79 
82  public: void FillMsg(msgs::Geometry &_msg);
83 
87  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
88 
90  public: virtual double ComputeVolume() const;
91  };
93  }
94 }
95 #endif
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
Generic double x, y vector.
Definition: Vector2d.hh:36
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
Base class for all shapes.
Definition: Shape.hh:46
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:104
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Collision for an infinite plane.
Definition: PlaneShape.hh:41