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Add Capsule primitives #24

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jmirabel wants to merge 1 commit into from
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Add Capsule primitives #24

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16 changes: 15 additions & 1 deletion urdf_model/include/urdf_model/link.h
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ namespace urdf{
class Geometry
{
public:
enum {SPHERE, BOX, CYLINDER, MESH} type;
enum {SPHERE, BOX, CYLINDER, CAPSULE, MESH} type;

virtual ~Geometry(void)
{
Expand Down Expand Up @@ -95,6 +95,20 @@ class Cylinder : public Geometry
};
};

class Capsule : public Geometry
{
public:
Capsule() { this->clear(); type = CAPSULE; };
double length;
double radius;

void clear()
{
length = 0;
radius = 0;
};
};

class Mesh : public Geometry
{
public:
Expand Down