SphereShape.hh
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1 /*
2  * Copyright (C) 2012-2016 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 /* Desc: Sphere shape
18  * Author: Nate Koenig
19  * Date: 14 Oct 2009
20  */
21 
22 #ifndef _SPHERESHAPE_HH_
23 #define _SPHERESHAPE_HH_
24 
25 #ifdef _WIN32
26  // Ensure that Winsock2.h is included before Windows.h, which can get
27  // pulled in by anybody (e.g., Boost).
28  #include <Winsock2.h>
29 #endif
30 
31 #include "gazebo/physics/Shape.hh"
33 #include "gazebo/util/system.hh"
34 
35 namespace gazebo
36 {
37  namespace physics
38  {
41 
44  class GZ_PHYSICS_VISIBLE SphereShape : public Shape
45  {
48  public: explicit SphereShape(CollisionPtr _parent);
49 
51  public: virtual ~SphereShape();
52 
54  public: virtual void Init();
55 
58  public: virtual void SetRadius(double _radius);
59 
62  public: double GetRadius() const;
63 
66  public: virtual void SetScale(const math::Vector3 &_scale);
67 
70  public: virtual void FillMsg(msgs::Geometry &_msg);
71 
74  public: virtual void ProcessMsg(const msgs::Geometry &_msg);
75 
77  public: virtual double ComputeVolume() const;
78  };
80  }
81 }
82 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
Base class for all shapes.
Definition: Shape.hh:46
default namespace for gazebo
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:104
Sphere collision shape.
Definition: SphereShape.hh:44