Geometry.hh
Go to the documentation of this file.
1 /*
2  * Copyright 2018 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
7  *
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,
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 #ifndef SDF_GEOMETRY_HH_
18 #define SDF_GEOMETRY_HH_
19 
20 #include <sdf/Error.hh>
21 #include <sdf/Element.hh>
22 #include <sdf/sdf_config.h>
23 
24 namespace sdf
25 {
26  // Inline bracket to help doxygen filtering.
27  inline namespace SDF_VERSION_NAMESPACE {
28  //
29 
30  // Forward declare private data class.
31  class GeometryPrivate;
32  class Box;
33  class Cylinder;
34  class Heightmap;
35  class Mesh;
36  class Plane;
37  class Sphere;
38 
41  enum class GeometryType
42  {
44  EMPTY = 0,
45 
47  BOX = 1,
48 
50  CYLINDER = 2,
51 
53  PLANE = 3,
54 
56  SPHERE = 4,
57 
59  MESH = 5,
60 
62  HEIGHTMAP = 6,
63  };
64 
70  {
72  public: Geometry();
73 
76  public: Geometry(const Geometry &_geometry);
77 
80  public: Geometry(Geometry &&_geometry) noexcept;
81 
83  public: virtual ~Geometry();
84 
88  public: Geometry &operator=(const Geometry &_geometry);
89 
93  public: Geometry &operator=(Geometry &&_geometry);
94 
101  public: Errors Load(ElementPtr _sdf);
102 
105  public: GeometryType Type() const;
106 
109  public: void SetType(const GeometryType _type);
110 
116  public: const Box *BoxShape() const;
117 
120  public: void SetBoxShape(const Box &_box);
121 
127  public: const Cylinder *CylinderShape() const;
128 
131  public: void SetCylinderShape(const Cylinder &_cylinder);
132 
138  public: const Sphere *SphereShape() const;
139 
142  public: void SetSphereShape(const Sphere &_sphere);
143 
149  public: const Plane *PlaneShape() const;
150 
153  public: void SetPlaneShape(const Plane &_plane);
154 
160  public: const Mesh *MeshShape() const;
161 
164  public: void SetMeshShape(const Mesh &_mesh);
165 
171  public: const Heightmap *HeightmapShape() const;
172 
175  public: void SetHeightmapShape(const Heightmap &_heightmap);
176 
181  public: sdf::ElementPtr Element() const;
182 
184  private: GeometryPrivate *dataPtr;
185  };
186  }
187 }
188 #endif
sdf::v10::GeometryType::HEIGHTMAP
@ HEIGHTMAP
A heightmap geometry.
Error.hh
sdf::v10::GeometryType::CYLINDER
@ CYLINDER
A cylinder geometry.
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:32
sdf::v10::GeometryType::SPHERE
@ SPHERE
A sphere geometry.
sdf::v10::Geometry
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:69
sdf::v10::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:95
sdf::v10::Sphere
Sphere represents a sphere shape, and is usually accessed through a Geometry.
Definition: Sphere.hh:37
sdf::v10::GeometryType::MESH
@ MESH
A mesh geometry.
sdf::v10::GeometryType::PLANE
@ PLANE
A plane geometry.
sdf::v10::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
sdf::v10::Plane
Plane represents a plane shape, and is usually accessed through a Geometry.
Definition: Plane.hh:38
sdf::v10::Cylinder
Cylinder represents a cylinder shape, and is usually accessed through a Geometry.
Definition: Cylinder.hh:36
sdf::v10::GeometryType::EMPTY
@ EMPTY
Empty geometry. This means no shape has been defined.
sdf::v10::Mesh
Mesh represents a mesh shape, and is usually accessed through a Geometry.
Definition: Mesh.hh:37
sdf::v10::GeometryType
GeometryType
Definition: Geometry.hh:41
sdf::v10::GeometryType::BOX
@ BOX
A box geometry.
sdf::v10::Heightmap
Heightmap represents a shape defined by a 2D field, and is usually accessed through a Geometry.
Definition: Heightmap.hh:167
sdf::v10::Box
Box represents a box shape, and is usually accessed through a Geometry.
Definition: Box.hh:36
sdf::v10::Element
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
Element.hh