Geometry.hh

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/*
 * Copyright 2018 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 SDF_GEOMETRY_HH_
#define SDF_GEOMETRY_HH_

#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/sdf_config.h>

namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //

  // Forward declare private data class.
  class GeometryPrivate;
  class Box;
  class Cylinder;
  class Heightmap;
  class Mesh;
  class Plane;
  class Sphere;

  enum class GeometryType
  {
    EMPTY = 0,

    BOX = 1,

    CYLINDER = 2,

    PLANE = 3,

    SPHERE = 4,

    MESH = 5,

    HEIGHTMAP = 6,
  };

  class SDFORMAT_VISIBLE Geometry
  {
    public: Geometry();

    public: Geometry(const Geometry &_geometry);

    public: Geometry(Geometry &&_geometry) noexcept;

    public: virtual ~Geometry();

    public: Geometry &operator=(const Geometry &_geometry);

    public: Geometry &operator=(Geometry &&_geometry);

    public: Errors Load(ElementPtr _sdf);

    public: GeometryType Type() const;

    public: void SetType(const GeometryType _type);

    public: const Box *BoxShape() const;

    public: void SetBoxShape(const Box &_box);

    public: const Cylinder *CylinderShape() const;

    public: void SetCylinderShape(const Cylinder &_cylinder);

    public: const Sphere *SphereShape() const;

    public: void SetSphereShape(const Sphere &_sphere);

    public: const Plane *PlaneShape() const;

    public: void SetPlaneShape(const Plane &_plane);

    public: const Mesh *MeshShape() const;

    public: void SetMeshShape(const Mesh &_mesh);

    public: const Heightmap *HeightmapShape() const;

    public: void SetHeightmapShape(const Heightmap &_heightmap);

    public: sdf::ElementPtr Element() const;

    private: GeometryPrivate *dataPtr;
  };
  }
}
#endif