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/*
* Copyright 2018 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 SDF_PLANE_HH_
#define SDF_PLANE_HH_
#include <ignition/math/Plane.hh>
#include <ignition/math/Vector3.hh>
#include <ignition/math/Vector2.hh>
#include <ignition/utils/ImplPtr.hh>
#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/sdf_config.h>
namespace sdf
{
// Inline bracket to help doxygen filtering.
inline namespace SDF_VERSION_NAMESPACE {
//
/// \brief Plane represents a plane shape, and is usually accessed through a
/// Geometry.
class SDFORMAT_VISIBLE Plane
{
/// \brief Constructor
public: Plane();
/// \brief Load the plane geometry based on a element pointer.
/// This is *not* the usual entry point. Typical usage of the SDF DOM is
/// through the Root object.
/// \param[in] _sdf The SDF Element pointer
/// \return Errors, which is a vector of Error objects. Each Error includes
/// an error code and message. An empty vector indicates no error.
public: Errors Load(ElementPtr _sdf);
/// \brief Get the plane normal vector. When a Plane is used as a geometry
/// for a Visual or Collision object, then the normal is specified in the
/// Visual or Collision frame, respectively.
/// \return The plane normal vector.
public: ignition::math::Vector3d Normal() const;
/// \brief Set the plane normal vector. The _normal vector will be
/// normalized. See ignition::math::Vector3d Normal() for more information
/// about the normal vector, such as the frame in which it is specified.
/// \param[in] _normal The plane normal vector.
public: void SetNormal(const ignition::math::Vector3d &_normal);
/// \brief Get the plane size in meters.
/// \return The plane size in meters.
public: ignition::math::Vector2d Size() const;
/// \brief Set the plane size in meters.
/// \param[in] _size The plane size in meters.
public: void SetSize(const ignition::math::Vector2d &_size);
/// \brief Get a pointer to the SDF element that was used during
/// load.
/// \return SDF element pointer. The value will be nullptr if Load has
/// not been called.
public: sdf::ElementPtr Element() const;
/// \brief Get the Ignition Math representation of this Plane.
/// \return A const reference to an ignition::math::Planed object.
public: const ignition::math::Planed &Shape() const;
/// \brief Get a mutable Ignition Math representation of this Plane.
/// \return A reference to an ignition::math::Planed object.
public: ignition::math::Planed &Shape();
/// \brief Private data pointer.
IGN_UTILS_IMPL_PTR(dataPtr)
};
}
}
#endif
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