PlanarSurface.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 PlanarSurfaceImpl;
 
struct MC_RBDYN_DLLAPI PlanarSurface : public Surface
{
  PlanarSurface(const std::string & name,
                const std::string & bodyName,
                const sva::PTransformd & X_b_s,
                const std::string & materialName,
                const std::vector<std::pair<double, double>> & planarPoints);
 
  static std::unique_ptr<PlanarSurface> fromXML(const tinyxml2::XMLElement & elem);
 
  ~PlanarSurface() override;
 
  void computePoints() override;
 
  void planarTransform(const double & T, const double & B, const double & N_rot);
 
  const std::vector<std::pair<double, double>> & planarPoints() const;
 
  void planarPoints(const std::vector<std::pair<double, double>> & planarPoints);
 
  tinyxml2::XMLElement * toXML(tinyxml2::XMLDocument & doc) const override;
 
  std::shared_ptr<Surface> copy() const override;
 
  std::string type() const override;
 
public:
private:
  std::unique_ptr<PlanarSurfaceImpl> impl;
};
 
} // namespace mc_rbdyn