Polyline.hh
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2  * Copyright 2022 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.
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17 #ifndef SDF_POLYLINE_HH_
18 #define SDF_POLYLINE_HH_
19 
20 #include <vector>
21 
22 #include <ignition/math/Vector2.hh>
23 #include <ignition/utils/ImplPtr.hh>
24 #include <sdf/Error.hh>
25 #include <sdf/Element.hh>
26 #include <sdf/sdf_config.h>
27 
28 namespace sdf
29 {
30  // Inline bracket to help doxygen filtering.
31  inline namespace SDF_VERSION_NAMESPACE {
32  //
33 
36  {
38  public: Polyline();
39 
46  public: Errors Load(ElementPtr _sdf);
47 
50  public: double Height() const;
51 
54  public: void SetHeight(const double _height);
55 
58  public: uint64_t PointCount() const;
59 
62  public: const ignition::math::Vector2d *PointByIndex(uint64_t _index) const;
63 
66  public: ignition::math::Vector2d *PointByIndex(uint64_t _index);
67 
71  public: bool AddPoint(const ignition::math::Vector2d &_point);
72 
74  public: void ClearPoints();
75 
79  public: const std::vector<ignition::math::Vector2d> &Points() const;
80 
85  public: sdf::ElementPtr Element() const;
86 
92  public: sdf::ElementPtr ToElement() const;
93 
95  IGN_UTILS_IMPL_PTR(dataPtr)
96  };
97  }
98 }
99 #endif
Error.hh
sdf::v12::Polyline
Polyline represents a 2D path. Multiple polylines can be combined.
Definition: Polyline.hh:35
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:34
sdf::v12::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:106
sdf_config.h
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:25
sdf::v12::Element
class IGNITION_SDFORMAT_VISIBLE Element
Definition: Element.hh:50
sdf::v12::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:54
Element.hh