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| name: Validate package.xml | ||
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| on: | ||
| pull_request: | ||
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| jobs: | ||
| package-xml: | ||
| runs-on: ubuntu-latest | ||
| name: Validate package.xml | ||
| steps: | ||
| - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy |
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| /* | ||
| * Copyright 2024 CogniPilot Foundation | ||
| * Copyright 2024 Open Source Robotics Foundation | ||
| * Copyright 2024 Rudis Laboratories | ||
| * | ||
| * 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_CONE_HH_ | ||
| #define SDF_CONE_HH_ | ||
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| #include <optional> | ||
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| #include <gz/math/Cone.hh> | ||
| #include <gz/math/Inertial.hh> | ||
| #include <gz/utils/ImplPtr.hh> | ||
| #include <sdf/Error.hh> | ||
| #include <sdf/Element.hh> | ||
| #include <sdf/sdf_config.h> | ||
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| namespace sdf | ||
| { | ||
| // Inline bracket to help doxygen filtering. | ||
| inline namespace SDF_VERSION_NAMESPACE { | ||
| /// \brief Cone represents a cone shape, and is usually accessed | ||
| /// through a Geometry. | ||
| class SDFORMAT_VISIBLE Cone | ||
| { | ||
| /// \brief Constructor | ||
| public: Cone(); | ||
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| /// \brief Load the cone 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); | ||
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| /// \brief Get the cone's radius in meters. | ||
| /// \return The radius of the cone in meters. | ||
| public: double Radius() const; | ||
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| /// \brief Set the cone's radius in meters. | ||
| /// \param[in] _radius The radius of the cone in meters. | ||
| public: void SetRadius(double _radius); | ||
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| /// \brief Get the cone's length in meters. | ||
| /// \return The length of the cone in meters. | ||
| public: double Length() const; | ||
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| /// \brief Set the cone's length in meters. | ||
| /// \param[in] _length The length of the cone in meters. | ||
| public: void SetLength(double _length); | ||
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| /// \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; | ||
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| /// \brief Get the Gazebo Math representation of this cone. | ||
| /// \return A const reference to a gz::math::Sphered object. | ||
| public: const gz::math::Coned &Shape() const; | ||
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| /// \brief Get a mutable Gazebo Math representation of this cone. | ||
| /// \return A reference to a gz::math::Coned object. | ||
| public: gz::math::Coned &Shape(); | ||
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| /// \brief Calculate and return the Inertial values for the cone. In | ||
| /// order to calculate the inertial properties, the function mutates the | ||
| /// object by updating its material properties. | ||
| /// \param[in] _density Density of the cone in kg/m^3 | ||
| /// \return A std::optional with gz::math::Inertiald object or std::nullopt | ||
| public: std::optional<gz::math::Inertiald> | ||
| CalculateInertial(double _density); | ||
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| /// \brief Create and return an SDF element filled with data from this | ||
| /// cone. | ||
| /// Note that parameter passing functionality is not captured with this | ||
| /// function. | ||
| /// \return SDF element pointer with updated cone values. | ||
| public: sdf::ElementPtr ToElement() const; | ||
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| /// \brief Create and return an SDF element filled with data from this | ||
| /// cone. | ||
| /// Note that parameter passing functionality is not captured with this | ||
| /// function. | ||
| /// \param[out] _errors Vector of errors. | ||
| /// \return SDF element pointer with updated cone values. | ||
| public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const; | ||
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| /// \brief Private data pointer. | ||
| GZ_UTILS_IMPL_PTR(dataPtr) | ||
| }; | ||
| } | ||
| } | ||
| #endif |
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