capsule.h

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#ifndef TESSERACT_GEOMETRY_CAPSULE_H
#define TESSERACT_GEOMETRY_CAPSULE_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <boost/serialization/export.hpp>
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_geometry/geometry.h>
 
namespace tesseract_geometry
{
class Capsule : public Geometry
{
public:
  using Ptr = std::shared_ptr<Capsule>;
  using ConstPtr = std::shared_ptr<const Capsule>;
 
  Capsule(double r, double l) : Geometry(GeometryType::CAPSULE), r_(r), l_(l) {}
  Capsule() = default;
  ~Capsule() override = default;
 
  double getRadius() const { return r_; }
  double getLength() const { return l_; }
 
  Geometry::Ptr clone() const override final { return std::make_shared<Capsule>(r_, l_); }
  bool operator==(const Capsule& rhs) const;
  bool operator!=(const Capsule& rhs) const;
 
private:
  double r_{ 0 };
  double l_{ 0 };
 
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
}  // namespace tesseract_geometry
 
BOOST_CLASS_EXPORT_KEY2(tesseract_geometry::Capsule, "Capsule")
#endif  // TESSERACT_GEOMETRY_CAPSULE_H