Shape.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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef _SHAPE_HH_
18 #define _SHAPE_HH_
19 
20 #ifdef _WIN32
21  // Ensure that Winsock2.h is included before Windows.h, which can get
22  // pulled in by anybody (e.g., Boost).
23  #include <Winsock2.h>
24 #endif
25 
26 #include <string>
27 
28 #include "gazebo/msgs/msgs.hh"
29 
31 
34 #include "gazebo/physics/Base.hh"
35 #include "gazebo/util/system.hh"
36 
37 namespace gazebo
38 {
39  namespace physics
40  {
43 
46  class GZ_PHYSICS_VISIBLE Shape : public Base
47  {
50  public: explicit Shape(CollisionPtr _parent);
51 
53  public: virtual ~Shape();
54 
56  public: virtual void Init() = 0;
57 
60  public: virtual void SetScale(const math::Vector3 &_scale) = 0;
61 
64  public: virtual math::Vector3 GetScale() const;
65 
68  public: virtual void FillMsg(msgs::Geometry &_msg) = 0;
69 
72  public: virtual void ProcessMsg(const msgs::Geometry &_msg) = 0;
73 
77  public: virtual double ComputeVolume() const;
78 
81 
83  protected: math::Vector3 scale;
84  };
86  }
87 }
88 #endif
CollisionPtr collisionParent
This shape's collision parent.
Definition: Shape.hh:80
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
Base class for all shapes.
Definition: Shape.hh:46
default namespace for gazebo
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:104
Base class for most physics classes.
Definition: Base.hh:80
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
math::Vector3 scale
This shape's scale;.
Definition: Shape.hh:83