Shape Class Reference

The base interface for all shape specifications. More...

#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

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, you must:

1. add a pure virtual function ImplementGeometry() for the new shape in ShapeReifier.
2. define ImplementGeometry() for the new shape in the subclasses of ShapeReifier.
3. modify CopyShapeOrThrow() of ProximityEngine to support the new shape and add an instance of the new shape to the CopySemantics test in proximity_engine_test.cc.
4. test the new shape in the class BoxPenetrationTest of proximity_engine_test.cc

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

Constructor & Destructor Documentation

~Shape()

~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.

Invokes the protected DoClone().

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.

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

• drake/geometry/shape_specification.h
• drake/geometry/shape_specification.cc