collision.h

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#ifndef INCLUDE_TINYURDF_CORE_COLLISION_H_
#define INCLUDE_TINYURDF_CORE_COLLISION_H_
 
// Copyright 2025 Wissem CHIHA
 
#include <memory>
 
#include "common/geometry_base.h"
#include "common/property_base.h"
#include "core/pose.h"
 
class Collision : public PropertyBase
{
 public:
  Collision();
  bool isA(const char* name) const override;
  void clear() override;
  std::string toString() const override;
  void setGeometry(std::shared_ptr<GeometryBase> geometry);
  std::shared_ptr<GeometryBase> getGeometry() const;
  void setOrigin(std::shared_ptr<Pose> o_);
  void getOrigin(double* xyz) const;
 
 private:
  std::shared_ptr<GeometryBase> geometry;
  std::shared_ptr<Pose> origin;
};
#endif  // TINYURDF_COLLISION_H_