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DARTRayShape.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_DARTRAYSHAPE_HH_
#define _GAZEBO_DARTRAYSHAPE_HH_
#include <string>
#include "gazebo/physics/RayShape.hh"
#include "gazebo/physics/Shape.hh"
#include "gazebo/physics/dart/DARTTypes.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class DARTRayShapePrivate;
class GZ_PHYSICS_VISIBLE DARTRayShape : public RayShape
{
public: explicit DARTRayShape(PhysicsEnginePtr _physicsEngine);
public: explicit DARTRayShape(CollisionPtr _collision);
public: virtual ~DARTRayShape();
public: virtual void Update();
public: virtual void GetIntersection(double &_dist, std::string &_entity);
public: virtual void SetPoints(const ignition::math::Vector3d &_posStart,
const ignition::math::Vector3d &_posEnd);
private: DARTRayShapePrivate *dataPtr;
};
}
}
#endif
DARTTypes.hh
DART wrapper forward declarations and typedefs.
gazebo::physics::DARTRayShape::GetIntersection
virtual void GetIntersection(double &_dist, std::string &_entity)
Get the nearest intersection.
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::DARTRayShape::Update
virtual void Update()
Update the ray collision.
system.hh
gazebo::physics::DARTRayShape::DARTRayShape
DARTRayShape(PhysicsEnginePtr _physicsEngine)
Constructor for a global ray.
gazebo::physics::DARTRayShape::~DARTRayShape
virtual ~DARTRayShape()
Destructor.
gazebo::physics::RayShape
Base class for Ray collision geometry.
Definition: RayShape.hh:35
Shape.hh
RayShape.hh
gazebo::physics::DARTRayShape::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::DARTRayShape
Ray collision.
Definition: DARTRayShape.hh:39
gazebo::physics::PhysicsEnginePtr
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:125
gazebo::physics::CollisionPtr
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113