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us.ihmc.scs2.definition.robot.sdf.items.SDFGeometry Maven / Gradle / Ivy
package us.ihmc.scs2.definition.robot.sdf.items;
import java.util.Collections;
import java.util.List;
import javax.xml.bind.annotation.XmlElement;
public class SDFGeometry implements SDFItem
{
private Box box;
private Sphere sphere;
private Cylinder cylinder;
private Mesh mesh;
private Plane plane;
private GeometryImage image;
private HeightMap heightMap;
public Box getBox()
{
return box;
}
@XmlElement(name = "box")
public void setBox(Box box)
{
this.box = box;
}
public Sphere getSphere()
{
return sphere;
}
@XmlElement(name = "sphere")
public void setSphere(Sphere sphere)
{
this.sphere = sphere;
}
public Cylinder getCylinder()
{
return cylinder;
}
@XmlElement(name = "cylinder")
public void setCylinder(Cylinder cylinder)
{
this.cylinder = cylinder;
}
public Mesh getMesh()
{
return mesh;
}
@XmlElement(name = "mesh")
public void setMesh(Mesh mesh)
{
this.mesh = mesh;
}
public Plane getPlane()
{
return plane;
}
@XmlElement(name = "plane")
public void setPlane(Plane plane)
{
this.plane = plane;
}
public GeometryImage getImage()
{
return image;
}
@XmlElement(name = "image")
public void setImage(GeometryImage image)
{
this.image = image;
}
public HeightMap getHeightMap()
{
return heightMap;
}
@XmlElement(name = "heightmap")
public void setHeightMap(HeightMap heightMap)
{
this.heightMap = heightMap;
}
@Override
public String getContentAsString()
{
return format("[box: %s, sphere: %s, cylinder: %s, mesh: %s, plane: %s, image: %s, heightMap: %s]", box, sphere, cylinder, mesh, plane, image, heightMap);
}
@Override
public List getURIHolders()
{
return SDFItem.combineItemURIHolders(box, sphere, cylinder, mesh, plane, image, heightMap);
}
@Override
public String toString()
{
return itemToString();
}
public static class Box implements SDFItem
{
private String size;
public String getSize()
{
return size;
}
@XmlElement(name = "size")
public void setSize(String size)
{
this.size = size;
}
@Override
public String getContentAsString()
{
return format("[size: %s]", size);
}
@Override
public List getURIHolders()
{
return Collections.emptyList();
}
@Override
public String toString()
{
return itemToString();
}
}
public static class Sphere implements SDFItem
{
private String radius;
public String getRadius()
{
return radius;
}
@XmlElement(name = "radius")
public void setRadius(String radius)
{
this.radius = radius;
}
@Override
public String getContentAsString()
{
return format("[radius: %s]", radius);
}
@Override
public List getURIHolders()
{
return Collections.emptyList();
}
@Override
public String toString()
{
return itemToString();
}
}
public static class Cylinder implements SDFItem
{
private String radius;
private String length;
public String getRadius()
{
return radius;
}
@XmlElement(name = "radius")
public void setRadius(String radius)
{
this.radius = radius;
}
public String getLength()
{
return length;
}
@XmlElement(name = "length")
public void setLength(String length)
{
this.length = length;
}
@Override
public String getContentAsString()
{
return format("[radius: %s, length: %s]", radius, length);
}
@Override
public List getURIHolders()
{
return Collections.emptyList();
}
@Override
public String toString()
{
return itemToString();
}
}
public static class Mesh implements SDFItem, SDFURIHolder
{
private String uri;
private String scale;
private SubMesh submesh;
@Override
public String getUri()
{
return uri;
}
@Override
@XmlElement(name = "uri")
public void setUri(String uri)
{
this.uri = uri;
}
public String getScale()
{
return scale;
}
@XmlElement(name = "scale")
public void setScale(String scale)
{
this.scale = scale;
}
public SubMesh getSubmesh()
{
return submesh;
}
@XmlElement(name = "submesh")
public void setSubmesh(SubMesh submesh)
{
this.submesh = submesh;
}
@Override
public String getContentAsString()
{
return format("[uri: %s, scale: %s, submesh: %s]", uri, scale, submesh);
}
@Override
public List getURIHolders()
{
return Collections.singletonList(this);
}
@Override
public String toString()
{
return itemToString();
}
public static class SubMesh implements SDFItem
{
private String name;
private String center;
public String getName()
{
return name;
}
public String getCenter()
{
return center;
}
@XmlElement(name = "name")
public void setName(String name)
{
this.name = name;
}
@XmlElement(name = "center")
public void setCenter(String center)
{
this.center = center;
}
@Override
public String getContentAsString()
{
return format("[name: %s, center: %s]", name, center);
}
@Override
public List getURIHolders()
{
return Collections.emptyList();
}
@Override
public String toString()
{
return itemToString();
}
}
}
public static class Plane implements SDFItem
{
private String normal;
private String size;
public String getNormal()
{
return normal;
}
@XmlElement(name = "normal")
public void setNormal(String normal)
{
this.normal = normal;
}
public String getSize()
{
return size;
}
@XmlElement(name = "size")
public void setSize(String size)
{
this.size = size;
}
@Override
public String getContentAsString()
{
return format("[normal: %s, size: %s]", normal, size);
}
@Override
public List getURIHolders()
{
return Collections.emptyList();
}
@Override
public String toString()
{
return itemToString();
}
}
public static class GeometryImage implements SDFItem, SDFURIHolder
{
private String uri;
private String scale;
private String threshold;
private String height;
private String granularity;
@Override
public String getUri()
{
return uri;
}
@Override
@XmlElement(name = "uri")
public void setUri(String uri)
{
this.uri = uri;
}
public String getScale()
{
return scale;
}
@XmlElement(name = "scale")
public void setScale(String scale)
{
this.scale = scale;
}
public String getThreshold()
{
return threshold;
}
@XmlElement(name = "threshold")
public void setThreshold(String threshold)
{
this.threshold = threshold;
}
public String getHeight()
{
return height;
}
@XmlElement(name = "height")
public void setHeight(String height)
{
this.height = height;
}
public String getGranularity()
{
return granularity;
}
@XmlElement(name = "granularity")
public void setGranularity(String granularity)
{
this.granularity = granularity;
}
@Override
public String getContentAsString()
{
return format("[uri: %s, scale: %s, threshold: %s, height: %s, granularity: %s]", uri, scale, threshold, height, granularity);
}
@Override
public List getURIHolders()
{
return Collections.singletonList(this);
}
@Override
public String toString()
{
return itemToString();
}
}
public static class HeightMap implements SDFItem, SDFURIHolder
{
private String uri;
private String size;
private String pos;
private List textures;
private List blends;
public String getUri()
{
return uri;
}
@XmlElement(name = "uri")
public void setUri(String uri)
{
this.uri = uri;
}
public String getSize()
{
return size;
}
@XmlElement(name = "size")
public void setSize(String size)
{
this.size = size;
}
public String getPos()
{
return pos;
}
@XmlElement(name = "pos")
public void setPos(String pos)
{
this.pos = pos;
}
public List getTextures()
{
return textures;
}
@XmlElement(name = "texture")
public void setTextures(List textures)
{
this.textures = textures;
}
public List getBlends()
{
return blends;
}
@XmlElement(name = "blend")
public void setBlends(List blends)
{
this.blends = blends;
}
@Override
public String getContentAsString()
{
return format("[uri: %s, size: %s, pos: %s, textures: %s, blends: %s]", uri, size, pos, textures, blends);
}
@Override
public List getURIHolders()
{
return Collections.singletonList(this);
}
@Override
public String toString()
{
return itemToString();
}
public static class Texture implements SDFItem
{
private String size;
private String diffuse;
private String normal;
public String getSize()
{
return size;
}
@XmlElement(name = "size")
public void setSize(String size)
{
this.size = size;
}
public String getDiffuse()
{
return diffuse;
}
@XmlElement(name = "diffuse")
public void setDiffuse(String diffuse)
{
this.diffuse = diffuse;
}
public String getNormal()
{
return normal;
}
@XmlElement(name = "normal")
public void setNormal(String normal)
{
this.normal = normal;
}
@Override
public String getContentAsString()
{
return format("[size: %s, diffuse: %s, normal: %s]", size, diffuse, normal);
}
@Override
public List getURIHolders()
{
return Collections.emptyList();
}
@Override
public String toString()
{
return itemToString();
}
}
public static class Blend implements SDFItem
{
private String minHeight;
private String fadeDist;
public String getMinHeight()
{
return minHeight;
}
@XmlElement(name = "min_height")
public void setMinHeight(String minHeight)
{
this.minHeight = minHeight;
}
public String getFadeDist()
{
return fadeDist;
}
@XmlElement(name = "fade_dist")
public void setFadeDist(String fadeDist)
{
this.fadeDist = fadeDist;
}
@Override
public String getContentAsString()
{
return format("[minHeight: %s, fadeDist: %s]", minHeight, fadeDist);
}
@Override
public List getURIHolders()
{
return Collections.emptyList();
}
@Override
public String toString()
{
return itemToString();
}
}
}
}
