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SimbodyMultiRayShape.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_PHYISCS_SIMBODY_SIMBODYMULTIRAYSHAPE_HH_
#define GAZEBO_PHYISCS_SIMBODY_SIMBODYMULTIRAYSHAPE_HH_
#include "gazebo/physics/MultiRayShape.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE SimbodyMultiRayShape : public MultiRayShape
{
public: explicit SimbodyMultiRayShape(CollisionPtr parent);
public: virtual ~SimbodyMultiRayShape();
// Documentation inherited.
public: virtual void UpdateRays();
// Documentation inherited.
protected: virtual void AddRay(const ignition::math::Vector3d &_start,
const ignition::math::Vector3d &_end);
private: SimbodyPhysicsPtr physicsEngine;
};
}
}
#endif
gazebo::physics::SimbodyMultiRayShape
Simbody specific version of MultiRayShape.
Definition: SimbodyMultiRayShape.hh:32
gazebo::physics::SimbodyMultiRayShape::UpdateRays
virtual void UpdateRays()
Method for updating the rays.
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
MultiRayShape.hh
system.hh
gazebo::physics::SimbodyMultiRayShape::AddRay
virtual void AddRay(const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end)
Add a ray to the collision.
gazebo::physics::Base::parent
BasePtr parent
Parent of this entity.
Definition: Base.hh:334
gazebo::physics::SimbodyMultiRayShape::SimbodyMultiRayShape
SimbodyMultiRayShape(CollisionPtr parent)
Constructor.
gazebo::physics::MultiRayShape
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner.
Definition: MultiRayShape.hh:39
gazebo::physics::SimbodyPhysicsPtr
boost::shared_ptr< SimbodyPhysics > SimbodyPhysicsPtr
Definition: SimbodyTypes.hh:40
gazebo::physics::CollisionPtr
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
gazebo::physics::SimbodyMultiRayShape::~SimbodyMultiRayShape
virtual ~SimbodyMultiRayShape()
Destructor.