Surface.hh
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1 /*
2  * Copyright 2020 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_SURFACE_HH_
18 #define SDF_SURFACE_HH_
19 
20 #include <ignition/utils/ImplPtr.hh>
21 #include "sdf/Element.hh"
22 #include "sdf/Types.hh"
23 #include "sdf/sdf_config.h"
24 #include "sdf/system_util.hh"
25 
26 namespace sdf
27 {
28  // Inline bracket to help doxygen filtering.
29  inline namespace SDF_VERSION_NAMESPACE {
32  {
34  public: Contact();
35 
42  public: Errors Load(ElementPtr _sdf);
43 
48  public: sdf::ElementPtr Element() const;
49 
52  public: uint16_t CollideBitmask() const;
53 
55  public: void SetCollideBitmask(const uint16_t _bitmask);
56 
58  IGN_UTILS_IMPL_PTR(dataPtr)
59  };
60 
63  {
65  public: Surface();
66 
73  public: Errors Load(ElementPtr _sdf);
74 
79  public: sdf::ElementPtr Element() const;
80 
84  public: const sdf::Contact *Contact() const;
85 
88  public: void SetContact(const sdf::Contact &_contact);
89 
91  IGN_UTILS_IMPL_PTR(dataPtr)
92  };
93  }
94 }
95 
96 #endif
sdf::v11::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:33
Types.hh
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:41
sdf::v11::Contact
Contact information for a surface.
Definition: Surface.hh:31
system_util.hh
sdf::v11::Element
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
sdf::v11::Surface
Surface information for a collision.
Definition: Surface.hh:62
sdf::v11::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
Element.hh