Geometry.hh
Go to the documentation of this file.
1 /*
2  * Copyright 2018 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_GEOMETRY_HH_
18 #define SDF_GEOMETRY_HH_
19 
20 #include <sdf/Error.hh>
21 #include <sdf/Element.hh>
22 #include <sdf/sdf_config.h>
23 
24 namespace sdf
25 {
26  // Inline bracket to help doxygen filtering.
27  inline namespace SDF_VERSION_NAMESPACE {
28  //
29 
30  // Forward declare private data class.
31  class GeometryPrivate;
32  class Box;
33  class Cylinder;
34  class Mesh;
35  class Plane;
36  class Sphere;
37 
40  enum class GeometryType
41  {
43  EMPTY = 0,
44 
46  BOX = 1,
47 
49  CYLINDER = 2,
50 
52  PLANE = 3,
53 
55  SPHERE = 4,
56 
58  MESH = 5,
59  };
60 
66  {
68  public: Geometry();
69 
72  public: Geometry(const Geometry &_geometry);
73 
76  public: Geometry(Geometry &&_geometry) noexcept;
77 
79  public: virtual ~Geometry();
80 
84  public: Geometry &operator=(const Geometry &_geometry);
85 
89  public: Geometry &operator=(Geometry &&_geometry);
90 
97  public: Errors Load(ElementPtr _sdf);
98 
101  public: GeometryType Type() const;
102 
105  public: void SetType(const GeometryType _type);
106 
112  public: const Box *BoxShape() const;
113 
116  public: void SetBoxShape(const Box &_box);
117 
123  public: const Cylinder *CylinderShape() const;
124 
127  public: void SetCylinderShape(const Cylinder &_cylinder);
128 
134  public: const Sphere *SphereShape() const;
135 
138  public: void SetSphereShape(const Sphere &_sphere);
139 
145  public: const Plane *PlaneShape() const;
146 
149  public: void SetPlaneShape(const Plane &_plane);
150 
156  public: const Mesh *MeshShape() const;
157 
160  public: void SetMeshShape(const Mesh &_mesh);
161 
166  public: sdf::ElementPtr Element() const;
167 
169  private: GeometryPrivate *dataPtr;
170  };
171  }
172 }
173 #endif
GeometryType
The set of geometry types.
Definition: Geometry.hh:40
Cylinder represents a cylinder shape, and is usually accessed through a Geometry. ...
Definition: Cylinder.hh:36
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
Plane represents a plane shape, and is usually accessed through a Geometry.
Definition: Plane.hh:38
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:65
Box represents a box shape, and is usually accessed through a Geometry.
Definition: Box.hh:36
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:48
Mesh represents a mesh shape, and is usually accessed through a Geometry.
Definition: Mesh.hh:37
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
namespace for Simulation Description Format parser
Definition: Actor.hh:32
Sphere represents a sphere shape, and is usually accessed through a Geometry.
Definition: Sphere.hh:37
Empty geometry. This means no shape has been defined.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:95