Shape.hh
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1 /*
2  * Copyright (C) 2012 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
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,
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13  * See the License for the specific language governing permissions and
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15  *
16 */
17 #ifndef GAZEBO_PHYSICS_SHAPE_HH_
18 #define GAZEBO_PHYSICS_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 #include <ignition/math/Vector3.hh>
28 
29 #include "gazebo/msgs/msgs.hh"
30 
33 #include "gazebo/physics/Base.hh"
34 #include "gazebo/util/system.hh"
35 
36 namespace gazebo
37 {
38  namespace physics
39  {
42 
45  class GZ_PHYSICS_VISIBLE Shape : public Base
46  {
49  public: explicit Shape(CollisionPtr _parent);
50 
52  public: virtual ~Shape();
53 
55  public: virtual void Init() = 0;
56 
59  public: virtual void SetScale(const ignition::math::Vector3d &_scale) = 0;
60 
63  public: virtual ignition::math::Vector3d Scale() const;
64 
67  public: virtual void FillMsg(msgs::Geometry &_msg) = 0;
68 
71  public: virtual void ProcessMsg(const msgs::Geometry &_msg) = 0;
72 
76  public: virtual double ComputeVolume() const;
77 
80 
82  protected: ignition::math::Vector3d scale = ignition::math::Vector3d::One;
83  };
85  }
86 }
87 #endif
Base class for all shapes.
Definition: Shape.hh:45
default namespace for gazebo
Base class for most physics classes.
Definition: Base.hh:77
CollisionPtr collisionParent
This shape's collision parent.
Definition: Shape.hh:79
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113