Geometry.hh
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17 #ifndef SDF_GEOMETRY_HH_
18 #define SDF_GEOMETRY_HH_
19 
20 #include <vector>
21 
22 #include <ignition/utils/ImplPtr.hh>
23 #include <sdf/Error.hh>
24 #include <sdf/Element.hh>
25 #include <sdf/sdf_config.h>
26 
27 namespace sdf
28 {
29  // Inline bracket to help doxygen filtering.
30  inline namespace SDF_VERSION_NAMESPACE {
31  //
32 
33  // Forward declare private data class.
34  class Box;
35  class Capsule;
36  class Cylinder;
37  class Ellipsoid;
38  class Heightmap;
39  class Mesh;
40  class Plane;
41  class Polyline;
42  class Sphere;
43 
46  enum class GeometryType
47  {
49  EMPTY = 0,
50 
52  BOX = 1,
53 
55  CYLINDER = 2,
56 
58  PLANE = 3,
59 
61  SPHERE = 4,
62 
64  MESH = 5,
65 
67  HEIGHTMAP = 6,
68 
70  CAPSULE = 7,
71 
73  ELLIPSOID = 8,
74 
76  POLYLINE = 9,
77  };
78 
84  {
86  public: Geometry();
87 
94  public: Errors Load(ElementPtr _sdf);
95 
98  public: GeometryType Type() const;
99 
102  public: void SetType(const GeometryType _type);
103 
109  public: const Box *BoxShape() const;
110 
113  public: void SetBoxShape(const Box &_box);
114 
120  public: const Capsule *CapsuleShape() const;
121 
124  public: void SetCapsuleShape(const Capsule &_capsule);
125 
131  public: const Cylinder *CylinderShape() const;
132 
135  public: void SetCylinderShape(const Cylinder &_cylinder);
136 
142  public: const Ellipsoid *EllipsoidShape() const;
143 
146  public: void SetEllipsoidShape(const Ellipsoid &_ellipsoid);
147 
153  public: const Sphere *SphereShape() const;
154 
157  public: void SetSphereShape(const Sphere &_sphere);
158 
163  public: const std::vector<Polyline> &PolylineShape() const;
164 
167  public: void SetPolylineShape(const std::vector<Polyline> &_polyline);
168 
174  public: const Plane *PlaneShape() const;
175 
178  public: void SetPlaneShape(const Plane &_plane);
179 
185  public: const Mesh *MeshShape() const;
186 
189  public: void SetMeshShape(const Mesh &_mesh);
190 
196  public: const Heightmap *HeightmapShape() const;
197 
200  public: void SetHeightmapShape(const Heightmap &_heightmap);
201 
206  public: sdf::ElementPtr Element() const;
207 
213  public: sdf::ElementPtr ToElement() const;
214 
216  IGN_UTILS_IMPL_PTR(dataPtr)
217  };
218  }
219 }
220 #endif
sdf::v12::Sphere
Sphere represents a sphere shape, and is usually accessed through a Geometry.
Definition: Sphere.hh:33
sdf::v12::Box
Box represents a box shape, and is usually accessed through a Geometry.
Definition: Box.hh:33
sdf::v12::Plane
Plane represents a plane shape, and is usually accessed through a Geometry.
Definition: Plane.hh:36
sdf::v12::GeometryType::SPHERE
@ SPHERE
A sphere geometry.
sdf::v12::Cylinder
Cylinder represents a cylinder shape, and is usually accessed through a Geometry.
Definition: Cylinder.hh:32
Error.hh
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:34
sdf::v12::GeometryType::ELLIPSOID
@ ELLIPSOID
An ellipsoid geometry.
sdf::v12::Ellipsoid
Ellipsoid represents a ellipsoid shape, and is usually accessed through a Geometry.
Definition: Ellipsoid.hh:32
sdf::v12::GeometryType::POLYLINE
@ POLYLINE
A polyline geometry.
sdf::v12::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
sdf::v12::Geometry
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:83
sdf::v12::Heightmap
Heightmap represents a shape defined by a 2D field, and is usually accessed through a Geometry.
Definition: Heightmap.hh:119
sdf::v12::GeometryType::MESH
@ MESH
A mesh geometry.
sdf_config.h
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:25
sdf::v12::GeometryType::EMPTY
@ EMPTY
Empty geometry. This means no shape has been defined.
sdf::v12::Element
class IGNITION_SDFORMAT_VISIBLE Element
Definition: Element.hh:50
sdf::v12::Capsule
Capsule represents a capsule shape, and is usually accessed through a Geometry.
Definition: Capsule.hh:32
sdf::v12::GeometryType::HEIGHTMAP
@ HEIGHTMAP
A heightmap geometry.
sdf::v12::GeometryType
GeometryType
Definition: Geometry.hh:46
sdf::v12::Mesh
Mesh represents a mesh shape, and is usually accessed through a Geometry.
Definition: Mesh.hh:35
sdf::v12::GeometryType::PLANE
@ PLANE
A plane geometry.
sdf::v12::GeometryType::CYLINDER
@ CYLINDER
A cylinder geometry.
sdf::v12::GeometryType::BOX
@ BOX
A box geometry.
sdf::v12::GeometryType::CAPSULE
@ CAPSULE
A capsule geometry.
sdf::v12::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
Element.hh