Geometry.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef SDF_GEOMETRY_HH_
18 #define SDF_GEOMETRY_HH_
19 
20 #include <vector>
21 #include <optional>
22 
23 #include <gz/utils/ImplPtr.hh>
24 #include <gz/math/Inertial.hh>
25 #include <sdf/Error.hh>
26 #include <sdf/Element.hh>
27 #include <sdf/sdf_config.h>
28 #include <sdf/ParserConfig.hh>
29 #include <sdf/Types.hh>
30 
31 namespace sdf
32 {
33  // Inline bracket to help doxygen filtering.
34  inline namespace SDF_VERSION_NAMESPACE {
35  //
36 
37  // Forward declare private data class.
38  class Box;
39  class Capsule;
40  class Cylinder;
41  class Ellipsoid;
42  class Heightmap;
43  class Mesh;
44  class ParserConfig;
45  class Plane;
46  class Polyline;
47  class Sphere;
48 
51  enum class GeometryType
52  {
54  EMPTY = 0,
55 
57  BOX = 1,
58 
60  CYLINDER = 2,
61 
63  PLANE = 3,
64 
66  SPHERE = 4,
67 
69  MESH = 5,
70 
72  HEIGHTMAP = 6,
73 
75  CAPSULE = 7,
76 
78  ELLIPSOID = 8,
79 
81  POLYLINE = 9,
82  };
83 
89  {
91  public: Geometry();
92 
99  public: Errors Load(ElementPtr _sdf);
100 
108  public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
109 
112  public: GeometryType Type() const;
113 
116  public: void SetType(const GeometryType _type);
117 
123  public: const Box *BoxShape() const;
124 
127  public: void SetBoxShape(const Box &_box);
128 
134  public: const Capsule *CapsuleShape() const;
135 
138  public: void SetCapsuleShape(const Capsule &_capsule);
139 
145  public: const Cylinder *CylinderShape() const;
146 
149  public: void SetCylinderShape(const Cylinder &_cylinder);
150 
156  public: const Ellipsoid *EllipsoidShape() const;
157 
160  public: void SetEllipsoidShape(const Ellipsoid &_ellipsoid);
161 
167  public: const Sphere *SphereShape() const;
168 
171  public: void SetSphereShape(const Sphere &_sphere);
172 
177  public: const std::vector<Polyline> &PolylineShape() const;
178 
181  public: void SetPolylineShape(const std::vector<Polyline> &_polyline);
182 
188  public: const Plane *PlaneShape() const;
189 
192  public: void SetPlaneShape(const Plane &_plane);
193 
199  public: const Mesh *MeshShape() const;
200 
203  public: void SetMeshShape(const Mesh &_mesh);
204 
210  public: const Heightmap *HeightmapShape() const;
211 
214  public: void SetHeightmapShape(const Heightmap &_heightmap);
215 
223  public: std::optional<gz::math::Inertiald> CalculateInertial(
224  sdf::Errors &_errors, const ParserConfig &_config,
225  double _density, sdf::ElementPtr _autoInertiaParams);
226 
231  public: sdf::ElementPtr Element() const;
232 
238  public: sdf::ElementPtr ToElement() const;
239 
246  public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
247 
249  GZ_UTILS_IMPL_PTR(dataPtr)
250  };
251  }
252 }
253 #endif
Box represents a box shape, and is usually accessed through a Geometry.
Definition: Box.hh:37
Capsule represents a capsule shape, and is usually accessed through a Geometry.
Definition: Capsule.hh:36
Cylinder represents a cylinder shape, and is usually accessed through a Geometry.
Definition: Cylinder.hh:36
Ellipsoid represents a ellipsoid shape, and is usually accessed through a Geometry.
Definition: Ellipsoid.hh:36
Geometry provides access to a shape, such as a Box.
Definition: Geometry.hh:89
const Sphere * SphereShape() const
Get the sphere geometry, or nullptr if the contained geometry is not a sphere.
sdf::ElementPtr Element() const
Get a pointer to the SDF element that was used during load.
const Ellipsoid * EllipsoidShape() const
Get the ellipsoid geometry, or nullptr if the contained geometry is not an ellipsoid.
std::optional< gz::math::Inertiald > CalculateInertial(sdf::Errors &_errors, const ParserConfig &_config, double _density, sdf::ElementPtr _autoInertiaParams)
Calculate and return the Inertial values for the Geometry.
const Plane * PlaneShape() const
Get the plane geometry, or nullptr if the contained geometry is not a plane.
sdf::ElementPtr ToElement() const
Create and return an SDF element filled with data from this geometry.
void SetEllipsoidShape(const Ellipsoid &_ellipsoid)
Set the ellipsoid shape.
sdf::ElementPtr ToElement(sdf::Errors &_errors) const
Create and return an SDF element filled with data from this geometry.
GeometryType Type() const
Get the type of geometry.
const std::vector< Polyline > & PolylineShape() const
Get the polyline geometry.
void SetPolylineShape(const std::vector< Polyline > &_polyline)
Set the polyline shape.
const Box * BoxShape() const
Get the box geometry, or nullptr if the contained geometry is not a box.
const Cylinder * CylinderShape() const
Get the cylinder geometry, or nullptr if the contained geometry is not a cylinder.
void SetSphereShape(const Sphere &_sphere)
Set the sphere shape.
const Capsule * CapsuleShape() const
Get the capsule geometry, or nullptr if the contained geometry is not a capsule.
const Mesh * MeshShape() const
Get the mesh geometry, or nullptr if the contained geometry is not a mesh.
void SetCapsuleShape(const Capsule &_capsule)
Set the capsule shape.
Errors Load(ElementPtr _sdf)
Load the geometry based on a element pointer.
void SetHeightmapShape(const Heightmap &_heightmap)
Set the heightmap shape.
const Heightmap * HeightmapShape() const
Get the heightmap geometry, or nullptr if the contained geometry is not a heightmap.
Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config)
Load the geometry based on a element pointer.
void SetPlaneShape(const Plane &_plane)
Set the plane shape.
void SetCylinderShape(const Cylinder &_cylinder)
Set the cylinder shape.
void SetMeshShape(const Mesh &_mesh)
Set the mesh shape.
void SetType(const GeometryType _type)
Set the type of geometry.
void SetBoxShape(const Box &_box)
Set the box shape.
Heightmap represents a shape defined by a 2D field, and is usually accessed through a Geometry.
Definition: Heightmap.hh:134
Mesh represents a mesh shape, and is usually accessed through a Geometry.
Definition: Mesh.hh:43
This class contains configuration options for the libsdformat parser.
Definition: ParserConfig.hh:100
Plane represents a plane shape, and is usually accessed through a Geometry.
Definition: Plane.hh:37
Sphere represents a sphere shape, and is usually accessed through a Geometry.
Definition: Sphere.hh:37
GeometryType
The set of geometry types.
Definition: Geometry.hh:52
@ EMPTY
Empty geometry. This means no shape has been defined.
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:95
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:55
namespace for Simulation Description Format parser
Definition: Actor.hh:35
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:25