Geometry.hh
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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
sdf::v9::Geometry::Geometry
Geometry()
Default constructor.
sdf::v9::Geometry
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:66
sdf::v9::Geometry::Element
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
Error.hh
sdf::v9::Geometry::SetPlaneShape
void SetPlaneShape(const Plane &_plane)
Set the plane shape.
sdf::v9::Geometry::PlaneShape
const Plane * PlaneShape() const
Get the plane geometry, or nullptr if the contained geometry is not a plane.
sdf::v9::GeometryType::EMPTY
@ EMPTY
Empty geometry. This means no shape has been defined.
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:33
sdf::v9::Geometry::Load
Errors Load(ElementPtr _sdf)
Load the geometry based on a element pointer.
sdf::v9::Geometry::BoxShape
const Box * BoxShape() const
Get the box geometry, or nullptr if the contained geometry is not a box.
sdf::v9::Geometry::SetCylinderShape
void SetCylinderShape(const Cylinder &_cylinder)
Set the cylinder shape.
sdf::v9::Cylinder
Cylinder represents a cylinder shape, and is usually accessed through a Geometry.
Definition: Cylinder.hh:37
sdf::v9::Geometry::SetSphereShape
void SetSphereShape(const Sphere &_sphere)
Set the sphere shape.
sdf::v9::Plane
Plane represents a plane shape, and is usually accessed through a Geometry.
Definition: Plane.hh:39
sdf::v9::Geometry::Type
GeometryType Type() const
Get the type of geometry.
sdf::v9::Sphere
Sphere represents a sphere shape, and is usually accessed through a Geometry.
Definition: Sphere.hh:38
sdf::v9::GeometryType
GeometryType
Definition: Geometry.hh:41
sdf::v9::Geometry::SetBoxShape
void SetBoxShape(const Box &_box)
Set the box shape.
sdf::v9::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
sdf::v9::Geometry::Geometry
Geometry(const Geometry &_geometry)
Copy constructor.
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:48
sdf::v9::Geometry::Geometry
Geometry(Geometry &&_geometry) noexcept
Move constructor.
sdf::v9::Geometry::SetMeshShape
void SetMeshShape(const Mesh &_mesh)
Set the mesh shape.
sdf::v9::Mesh
Mesh represents a mesh shape, and is usually accessed through a Geometry.
Definition: Mesh.hh:38
sdf::v9::Geometry::SetType
void SetType(const GeometryType _type)
Set the type of geometry.
sdf::v9::Geometry::CylinderShape
const Cylinder * CylinderShape() const
Get the cylinder geometry, or nullptr if the contained geometry is not a cylinder.
sdf::v9::Geometry::MeshShape
const Mesh * MeshShape() const
Get the mesh geometry, or nullptr if the contained geometry is not a mesh.
sdf::v9::Geometry::SphereShape
const Sphere * SphereShape() const
Get the sphere geometry, or nullptr if the contained geometry is not a sphere.
sdf::v9::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
sdf::v9::Box
Box represents a box shape, and is usually accessed through a Geometry.
Definition: Box.hh:37
sdf::v9::Geometry::operator=
Geometry & operator=(const Geometry &_geometry)
Assignment operator.
sdf::v9::Geometry::operator=
Geometry & operator=(Geometry &&_geometry)
Move assignment operator.
Element.hh
sdf::v9::Geometry::~Geometry
virtual ~Geometry()
Destructor.