PolylineShape.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2014-2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _GAZEBO_POLYLINESHAPE_HH_
#define _GAZEBO_POLYLINESHAPE_HH_

#ifdef _WIN32
  // Ensure that Winsock2.h is included before Windows.h, which can get
  // pulled in by anybody (e.g., Boost).
  #include <Winsock2.h>
#endif

#include <vector>
#include "gazebo/physics/Shape.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE PolylineShape : public Shape
    {
      public: explicit PolylineShape(CollisionPtr _parent);

      public: virtual ~PolylineShape();

      public: virtual void Init();

      public: std::vector<std::vector<ignition::math::Vector2d> >
              Vertices() const;

      public: double GetHeight() const;

      public: void FillMsg(msgs::Geometry &_msg);

      public: virtual void ProcessMsg(const msgs::Geometry &_msg);

      private: virtual void SetScale(const math::Vector3 &_scale);

      private: virtual void SetVertices(
                   const std::vector<std::vector<ignition::math::Vector2d> >
                   &_vertices);

      private: virtual void SetVertices(const msgs::Geometry &_msg);

      private: void SetPolylineShape(const double &_height,
                  const std::vector<std::vector<ignition::math::Vector2d> >
                  &_vertices);

      private: virtual void SetHeight(const double &_height);

      protected: const common::Mesh *mesh;
    };
  }
}
#endif