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DARTModel.hh
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/*
* Copyright (C) 2014 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_DARTMODEL_HH_
#define _GAZEBO_DARTMODEL_HH_
#include "gazebo/physics/dart/dart_inc.h"
#include "gazebo/physics/dart/DARTTypes.hh"
#include "gazebo/physics/Model.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class DARTModelPrivate;
class GZ_PHYSICS_VISIBLE DARTModel : public Model
{
public: explicit DARTModel(BasePtr _parent);
public: virtual ~DARTModel();
// Documentation inherited.
public: virtual void Load(sdf::ElementPtr _sdf);
// Documentation inherited.
public: virtual void Init();
// Documentation inherited.
public: virtual void Update();
// Documentation inherited.
public: virtual void Fini();
public: void BackupState();
public: void RestoreState();
public: dart::dynamics::SkeletonPtr DARTSkeleton();
public: DARTPhysicsPtr GetDARTPhysics(void) const;
public: dart::simulation::WorldPtr DARTWorld(void) const;
private: DARTModelPrivate *dataPtr;
};
}
}
#endif
DARTTypes.hh
DART wrapper forward declarations and typedefs.
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::DARTModel::DARTSkeleton
dart::dynamics::SkeletonPtr DARTSkeleton()
Get pointer to DART Skeleton.
system.hh
gazebo::physics::DARTModel
DART model class.
Definition: DARTModel.hh:40
gazebo::physics::DARTModel::Init
virtual void Init()
Initialize the model.
gazebo::physics::DARTModel::BackupState
void BackupState()
gazebo::physics::DARTPhysicsPtr
boost::shared_ptr< DARTPhysics > DARTPhysicsPtr
Definition: DARTTypes.hh:43
gazebo::physics::DARTModel::GetDARTPhysics
DARTPhysicsPtr GetDARTPhysics(void) const
Get pointer to DART Physics.
gazebo::physics::DARTModel::DARTWorld
dart::simulation::WorldPtr DARTWorld(void) const
Get pointer to DART World.
Model.hh
gazebo::physics::Model
A model is a collection of links, joints, and plugins.
Definition: Model.hh:59
gazebo::physics::BasePtr
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
gazebo::physics::DARTModel::RestoreState
void RestoreState()
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::physics::DARTModel::~DARTModel
virtual ~DARTModel()
Destructor.
dart_inc.h
gazebo::physics::DARTModel::Fini
virtual void Fini()
Finalize the model.
gazebo::physics::DARTModel::DARTModel
DARTModel(BasePtr _parent)
Constructor.
gazebo::physics::WorldPtr
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
gazebo::physics::DARTModel::Load
virtual void Load(sdf::ElementPtr _sdf)
Load the entity.
gazebo::physics::DARTModel::Update
virtual void Update()
Update the object.