CylindricalSurface.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rbdyn/Surface.h>
 
namespace mc_rbdyn
{
 
struct Robot;
 
struct CylindricalSurfaceImpl;
 
struct MC_RBDYN_DLLAPI CylindricalSurface : public Surface
{
  CylindricalSurface(const std::string & name,
                     const std::string & bodyName,
                     const sva::PTransformd & X_b_s,
                     const std::string & materialName,
                     const double & radius,
                     const double & width);
 
  ~CylindricalSurface() override;
 
  static std::unique_ptr<CylindricalSurface> fromXML(const tinyxml2::XMLElement & elem);
 
  void computePoints() override;
 
  const double & radius() const;
 
  const double & width() const;
 
  void width(const double & width);
 
  std::shared_ptr<Surface> copy() const override;
 
  std::string type() const override;
 
  tinyxml2::XMLElement * toXML(tinyxml2::XMLDocument & doc) const override;
 
private:
  std::unique_ptr<CylindricalSurfaceImpl> impl;
};
 
} // namespace mc_rbdyn