Shape Class Reference

Detailed Description

The base interface for all shape specifications.

It has no public constructor and cannot be instantiated directly. The Shape class has two key properties:

• it is cloneable, and
• it can be "reified" (see ShapeReifier).

When you add a new subclass of Shape to Drake, you must:

1. add a virtual function ImplementGeometry() for the new shape in ShapeReifier that invokes the ThrowUnsupportedGeometry method, and add to the test for it in shape_specification_test.cc.
2. implement ImplementGeometry in derived ShapeReifiers to continue support if desired, otherwise ensure unimplemented functions are not hidden in new derivations of ShapeReifier with using, for example, using ShapeReifier::ImplementGeometry. Existing subclasses should already have this.

Otherwise, you might get a runtime error. We do not have an automatic way to enforce them at compile time.

Note that the Shape class hierarchy is closed to third-party extensions. All Shape classes must be defined within Drake directly (and in this h/cc file pair in particular).

#include <drake/geometry/shape_specification.h>

Public Member Functions
virtual	~Shape ()
void	Reify (ShapeReifier *reifier, void *user_data=nullptr) const
	Causes this description to be reified in the given reifier. More...
std::unique_ptr< Shape >	Clone () const
	Creates a unique copy of this shape. More...

Protected Member Functions
template<typename S >
	Shape (ShapeTag< S > tag)
	Constructor available for derived class construction. More...
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	Shape (const Shape &)=default
Shape &	operator= (const Shape &)=default
	Shape (Shape &&)=default
Shape &	operator= (Shape &&)=default

Constructor & Destructor Documentation

~Shape()

virtual ~Shape ( )

virtual

Shape() [1/3]

Shape ( const Shape &  )

protecteddefault

Shape() [2/3]

Shape ( Shape &&  )

protecteddefault

Shape() [3/3]

Shape ( ShapeTag< S >  tag )

explicitprotected

Constructor available for derived class construction.

A derived class should invoke this in its initialization list, passing a ShapeTag instantiated on its derived type, e.g.:

class MyShape final : public Shape {
 public:
  MyShape() : Shape(ShapeTag<MyShape>()) {}
  ...
};

The base class provides infrastructure for cloning and reification. To work and to maintain sanity, we place the following requirements on derived classes:

1. they must have a public copy constructor,
2. they must be marked as final, and
3. their constructors must invoke the parent constructor with a ShapeTag instance (as noted above), and
4. The ShapeReifier class must be extended to include an invocation of ShapeReifier::ImplementGeometry() on the derived Shape class.

Template Parameters

S	The derived shape class. It must derive from Shape.

Member Function Documentation

Clone()

std::unique_ptr<Shape> Clone

(

)

const

Creates a unique copy of this shape.

operator=() [1/2]

Shape& operator= ( Shape &&  )

protecteddefault

operator=() [2/2]

Shape& operator= ( const Shape &  )

protecteddefault

Reify()

void Reify	(	ShapeReifier *	reifier,
		void *	user_data = nullptr
	)		const

Causes this description to be reified in the given reifier.

Each concrete subclass must invoke the single, matching method on the reifier. Provides optional user-data (cast as a void*) for the reifier to consume.

---

The documentation for this class was generated from the following file:

• drake/geometry/shape_specification.h