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DARTCollision.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_PHYSICS_DART_DARTCOLLISION_HH_
#define GAZEBO_PHYSICS_DART_DARTCOLLISION_HH_
#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/physics/Collision.hh"
#include "gazebo/physics/dart/dart_inc.h"
#include "gazebo/physics/dart/DARTTypes.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class DARTCollisionPrivate;
class GZ_PHYSICS_VISIBLE DARTCollision : public Collision
{
public: explicit DARTCollision(LinkPtr _parent);
public: virtual ~DARTCollision();
// Documentation inherited.
public: virtual void Load(sdf::ElementPtr _sdf);
// Documentation inherited.
public: virtual void Init();
// Documentation inherited.
public: virtual void Fini();
// Documentation inherited.
public: virtual void OnPoseChange();
// Documentation inherited.
public: virtual void SetCategoryBits(unsigned int _bits);
// Documentation inherited.
public: virtual void SetCollideBits(unsigned int _bits);
public: virtual unsigned int GetCategoryBits() const;
public: virtual unsigned int GetCollideBits() const;
// Documentation inherited.
public: virtual ignition::math::Box BoundingBox() const;
public: dart::dynamics::BodyNode *DARTBodyNode() const;
public: void SetDARTCollisionShapeNode(
dart::dynamics::ShapeNodePtr _shape,
const bool _placeable = true);
public: dart::dynamics::ShapeNodePtr DARTCollisionShapeNode() const;
public: DARTSurfaceParamsPtr DARTSurface() const;
private: DARTCollisionPrivate *dataPtr;
};
}
}
#endif
gazebo::physics::DARTCollision::Init
virtual void Init()
Initialize the collision.
DARTTypes.hh
DART wrapper forward declarations and typedefs.
gazebo::physics::Collision
Base class for all collision entities.
Definition: Collision.hh:38
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
Collision.hh
gazebo::physics::DARTCollision::GetCollideBits
virtual unsigned int GetCollideBits() const
Get the collide bits, used during collision detection.
system.hh
gazebo::physics::DARTCollision::~DARTCollision
virtual ~DARTCollision()
Destructor.
gazebo::physics::DARTCollision::DARTCollision
DARTCollision(LinkPtr _parent)
Constructor.
PhysicsTypes.hh
default namespace for gazebo
gazebo::physics::DARTCollision::Fini
virtual void Fini()
Finalize the collision.
gazebo::physics::DARTCollision::GetCategoryBits
virtual unsigned int GetCategoryBits() const
Get the category bits, used during collision detection.
gazebo::physics::DARTCollision
Base class for all DART collisions.
Definition: DARTCollision.hh:38
gazebo::physics::DARTCollision::SetDARTCollisionShapeNode
void SetDARTCollisionShapeNode(dart::dynamics::ShapeNodePtr _shape, const bool _placeable=true)
Set DART collision shape.
gazebo::physics::DARTSurfaceParamsPtr
boost::shared_ptr< DARTSurfaceParams > DARTSurfaceParamsPtr
Definition: DARTTypes.hh:51
gazebo::physics::DARTCollision::Load
virtual void Load(sdf::ElementPtr _sdf)
Load the collision.
gazebo::physics::DARTCollision::DARTCollisionShapeNode
dart::dynamics::ShapeNodePtr DARTCollisionShapeNode() const
Get DART collision shape node.
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::physics::LinkPtr
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
gazebo::physics::DARTCollision::OnPoseChange
virtual void OnPoseChange()
This function is called when the entity's (or one of its parents) pose of the parent has changed.
gazebo::physics::DARTCollision::DARTSurface
DARTSurfaceParamsPtr DARTSurface() const
Similar to Collision::GetSurface, but provides dynamically casted pointer to DARTSurfaceParams.
gazebo::physics::DARTCollision::SetCollideBits
virtual void SetCollideBits(unsigned int _bits)
Set the collide bits, used during collision detection.
gazebo::physics::DARTCollision::BoundingBox
virtual ignition::math::Box BoundingBox() const
Get the bounding box for this collision.
dart_inc.h
gazebo::physics::DARTCollision::SetCategoryBits
virtual void SetCategoryBits(unsigned int _bits)
Set the category bits, used during collision detection.
gazebo::physics::DARTCollision::DARTBodyNode
dart::dynamics::BodyNode * DARTBodyNode() const
Get DART body node.