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EllipsoidShape.hh
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EllipsoidShape.hh
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/*
* Copyright (C) 2021 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef GZ_PHYSICS_ELLIPSOIDSHAPE_HH_
#define GZ_PHYSICS_ELLIPSOIDSHAPE_HH_
#include <string>
#include <gz/physics/DeclareShapeType.hh>
#include <gz/physics/Geometry.hh>
namespace gz
{
namespace physics
{
GZ_PHYSICS_DECLARE_SHAPE_TYPE(EllipsoidShape)
class GZ_PHYSICS_VISIBLE GetEllipsoidShapeProperties
: public virtual FeatureWithRequirements<EllipsoidShapeCast>
{
public: template <typename PolicyT, typename FeaturesT>
class EllipsoidShape : public virtual Entity<PolicyT, FeaturesT>
{
public: using Dimensions =
typename FromPolicy<PolicyT>::template Use<LinearVector>;
/// \brief Get the radius of this EllipsoidShape
/// \return the radius of this EllipsoidShape
public: Dimensions GetRadii() const;
};
public: template <typename PolicyT>
class Implementation : public virtual Feature::Implementation<PolicyT>
{
public: using Dimensions =
typename FromPolicy<PolicyT>::template Use<LinearVector>;
public: virtual Dimensions GetEllipsoidShapeRadii(
const Identity &_ellipsoidID) const = 0;
};
};
/////////////////////////////////////////////////
/// \brief This feature sets the EllipsoidShape properties such as
/// the ellipsoid radii.
class GZ_PHYSICS_VISIBLE SetEllipsoidShapeProperties
: public virtual FeatureWithRequirements<EllipsoidShapeCast>
{
public: template <typename PolicyT, typename FeaturesT>
class EllipsoidShape : public virtual Entity<PolicyT, FeaturesT>
{
public: using Dimensions =
typename FromPolicy<PolicyT>::template Use<LinearVector>;
/// \brief Set the radius of this EllipsoidShape
/// \param[in] _radii
/// The desired radius of this EllipsoidShape
public: void SetRadii(Dimensions _radii);
};
public: template <typename PolicyT>
class Implementation : public virtual Feature::Implementation<PolicyT>
{
public: using Dimensions =
typename FromPolicy<PolicyT>::template Use<LinearVector>;
public: virtual void SetEllipsoidShapeRadii(
const Identity &_ellipsoidID, Dimensions _radii) = 0;
};
};
/////////////////////////////////////////////////
/// \brief This feature constructs a new ellipsoid shape and attaches the
/// desired pose in the link frame. The pose could be defined to be the
/// ellipsoid center point in actual implementation.
class GZ_PHYSICS_VISIBLE AttachEllipsoidShapeFeature
: public virtual FeatureWithRequirements<EllipsoidShapeCast>
{
public: template <typename PolicyT, typename FeaturesT>
class Link : public virtual Feature::Link<PolicyT, FeaturesT>
{
public: using Dimensions =
typename FromPolicy<PolicyT>::template Use<LinearVector>;
public: using PoseType =
typename FromPolicy<PolicyT>::template Use<Pose>;
public: using ShapePtrType = EllipsoidShapePtr<PolicyT, FeaturesT>;
/// \brief Rigidly attach a EllipsoidShape to this link.
/// \param[in] _radii
/// The radius of the ellipsoid.
/// \param[in] _pose
/// The desired pose of the EllipsoidShape relative to the Link frame.
/// \returns a ShapePtrType to the newly constructed EllipsoidShape
public: ShapePtrType AttachEllipsoidShape(
const std::string &_name = "ellipsoid",
Dimensions _radii = Dimensions::Constant(1.0),
const PoseType &_pose = PoseType::Identity());
};
public: template <typename PolicyT>
class Implementation : public virtual Feature::Implementation<PolicyT>
{
public: using Dimensions =
typename FromPolicy<PolicyT>::template Use<LinearVector>;
public: using PoseType =
typename FromPolicy<PolicyT>::template Use<Pose>;
public: virtual Identity AttachEllipsoidShape(
const Identity &_linkID,
const std::string &_name,
Dimensions _radii,
const PoseType &_pose) = 0;
};
};
}
}
#include <gz/physics/detail/EllipsoidShape.hh>
#endif