All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
Shape.hh
Go to the documentation of this file.
1 /*
2  * Copyright 2011 Nate Koenig
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 _SHAPE_HH_
18 #define _SHAPE_HH_
19 
20 #include <string>
21 
22 #include "msgs/msgs.hh"
23 #include "common/CommonTypes.hh"
24 #include "physics/PhysicsTypes.hh"
25 #include "physics/Inertial.hh"
26 
27 #include "physics/Base.hh"
28 
29 namespace gazebo
30 {
31  namespace physics
32  {
35 
37  class Shape : public Base
38  {
40  public: Shape(CollisionPtr p);
41 
43  public: virtual ~Shape();
44 
46  public: virtual void Init() = 0;
47 
49  public: virtual double GetMass(double _density) const
50  {return _density;}
51 
53  public: virtual void GetInertial(double _mass,
54  InertialPtr _inertial) const;
55 
56  public: virtual void FillShapeMsg(msgs::Geometry &_msg)
58 
59  public: virtual void FillMsg(msgs::Geometry &_msg) = 0;
60 
61  public: virtual void ProcessMsg(const msgs::Geometry &_msg) = 0;
62 
64  };
66  }
67 }
68 #endif