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SimbodyRayShape.hh
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/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef GAZEBO_PHYSICS_SIMBODY_SIMBODYRAYSHAPE_HH_
#define GAZEBO_PHYSICS_SIMBODY_SIMBODYRAYSHAPE_HH_
#include <string>
#include "gazebo/physics/RayShape.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE SimbodyRayShape : public RayShape
{
public: explicit SimbodyRayShape(PhysicsEnginePtr _physicsEngine);
public: explicit SimbodyRayShape(CollisionPtr _collision);
public: virtual ~SimbodyRayShape();
// Documentation inherited
public: virtual void Update();
// Documentation inherited
public: virtual void GetIntersection(double &_dist, std::string &_entity);
// Documentation inherited
public: virtual void SetPoints(const ignition::math::Vector3d &_posStart,
const ignition::math::Vector3d &_posEnd);
private: SimbodyPhysicsPtr physicsEngine;
};
}
}
#endif
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::SimbodyRayShape::GetIntersection
virtual void GetIntersection(double &_dist, std::string &_entity)
Get the nearest intersection.
gazebo::physics::SimbodyRayShape::Update
virtual void Update()
Update the ray collision.
gazebo::physics::SimbodyRayShape::~SimbodyRayShape
virtual ~SimbodyRayShape()
Destructor.
system.hh
gazebo::physics::SimbodyRayShape
Ray shape for simbody.
Definition: SimbodyRayShape.hh:33
gazebo::physics::RayShape
Base class for Ray collision geometry.
Definition: RayShape.hh:35
RayShape.hh
gazebo::physics::SimbodyRayShape::SetPoints
virtual void SetPoints(const ignition::math::Vector3d &_posStart, const ignition::math::Vector3d &_posEnd)
Set the ray based on starting and ending points relative to the body.
gazebo::physics::SimbodyRayShape::SimbodyRayShape
SimbodyRayShape(PhysicsEnginePtr _physicsEngine)
Constructor.
gazebo::physics::PhysicsEnginePtr
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:125
gazebo::physics::SimbodyPhysicsPtr
boost::shared_ptr< SimbodyPhysics > SimbodyPhysicsPtr
Definition: SimbodyTypes.hh:40
gazebo::physics::CollisionPtr
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113