Capsule.hh

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/*
 * Copyright 2020 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_CAPSULE_HH_
#define SDF_CAPSULE_HH_

#include <ignition/math/Capsule.hh>
#include <ignition/utils/ImplPtr.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 {
  class SDFORMAT_VISIBLE Capsule
  {
    public: Capsule();

    public: Errors Load(ElementPtr _sdf);

    public: double Radius() const;

    public: void SetRadius(const double _radius);

    public: double Length() const;

    public: void SetLength(const double _length);

    public: sdf::ElementPtr Element() const;

    public: const ignition::math::Capsuled &Shape() const;

    public: ignition::math::Capsuled &Shape();

    IGN_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif