BoxShape.hh
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1 /*
2  * Copyright (C) 2012-2016 Open Source Robotics Foundation
3  *
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
9  *
10  * Unless required by applicable law or agreed to in writing, software
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: Box geometry
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 8 May 2003
20  */
21
22 #ifndef _BOXSHAPE_HH_
23 #define _BOXSHAPE_HH_
24
25 #include "gazebo/physics/Shape.hh"
26 #include "gazebo/util/system.hh"
27
28 namespace gazebo
29 {
30  namespace physics
31  {
34
37  class GZ_PHYSICS_VISIBLE BoxShape : public Shape
38  {
41  public: explicit BoxShape(CollisionPtr _parent);
42
44  public: virtual ~BoxShape();
45
47  public: virtual void Init();
48
51  public: virtual void SetSize(const math::Vector3 &_size);
52
55  public: virtual void SetScale(const math::Vector3 &_scale);
56
59  public: math::Vector3 GetSize() const;
60
63  public: void FillMsg(msgs::Geometry &_msg);
64
67  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
68
70  public: virtual double ComputeVolume() const;
71  };
73  }
74 }
75 #endif
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
Base class for all shapes.
Definition: Shape.hh:46
Box geometry primitive.
Definition: BoxShape.hh:37
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113