CylinderShape.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * 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.
 *
*/
/* Desc: Cylinder geometry
 * Author: Nate Keonig, Andrew Howard
 * Date: 8 May 2003
 */

#ifndef CYLINDERSHAPE_HH
#define CYLINDERSHAPE_HH

#include "physics/Shape.hh"

namespace gazebo
{
    namespace physics
  {
 
    class CylinderShape : public Shape
    {
      public: CylinderShape(CollisionPtr parent);
  
      public: virtual ~CylinderShape();
  
      public: virtual void Load( sdf::ElementPtr &_sdf );

      public: void Init();

      public: void SetRadius(const double &radius);
  
      public: void SetLength(const double &length);

      public: double GetRadius() const;
  
      public: double GetLength() const;
  
      public: virtual void SetSize( const double &radius, const double &length  );
  
      public: void FillShapeMsg(msgs::Geometry &_msg);

      public: virtual void ProcessMsg(const msgs::Geometry &_msg);
    };
  }
}
#endif