##

SimbodyCollision.hh
Go to the documentation of this file.
/*
* 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_SIMBODYCOLLISION_HH_
#define GAZEBO_PHYSICS_SIMBODY_SIMBODYCOLLISION_HH_
#include <string>
#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/physics/Collision.hh"
#include "gazebo/util/system.hh"
namespace SimTK
{
class ContactGeometry;
}
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE SimbodyCollision : public Collision
{
public: explicit SimbodyCollision(LinkPtr _parent);
public: virtual ~SimbodyCollision();
// Documentation inherited
public: virtual void Load(sdf::ElementPtr _ptr);
// Documentation inherited
public: virtual void OnPoseChange();
// Documentation inherited
public: virtual void SetCategoryBits(unsigned int _bits);
// Documentation inherited
public: virtual void SetCollideBits(unsigned int _bits);
// Documentation inherited
public: virtual ignition::math::Box BoundingBox() const;
public: void SetCollisionShape(SimTK::ContactGeometry *_shape);
public: SimTK::ContactGeometry *GetCollisionShape() const;
private: SimTK::ContactGeometry *collisionShape;
};
}
}
#endif
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::SimbodyCollision::SetCollideBits
virtual void SetCollideBits(unsigned int _bits)
Set the collide bits, used during collision detection.
gazebo::physics::SimbodyCollision::BoundingBox
virtual ignition::math::Box BoundingBox() const
Get the bounding box for this collision.
SimTK
Definition: SimbodyCollision.hh:27
system.hh
PhysicsTypes.hh
default namespace for gazebo
gazebo::physics::SimbodyCollision::~SimbodyCollision
virtual ~SimbodyCollision()
Destructor.
gazebo::physics::SimbodyCollision::GetCollisionShape
SimTK::ContactGeometry * GetCollisionShape() const
Get the simbody collision shape.
gazebo::physics::SimbodyCollision::Load
virtual void Load(sdf::ElementPtr _ptr)
Load the collision.
gazebo::physics::SimbodyCollision::SetCollisionShape
void SetCollisionShape(SimTK::ContactGeometry *_shape)
Set the collision shape.
gazebo::physics::SimbodyCollision::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::SimbodyCollision::SetCategoryBits
virtual void SetCategoryBits(unsigned int _bits)
Set the category bits, used during collision detection.
gazebo::physics::LinkPtr
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
gazebo::physics::SimbodyCollision::SimbodyCollision
SimbodyCollision(LinkPtr _parent)
Constructor.
gazebo::physics::SimbodyCollision
Simbody collisions.
Definition: SimbodyCollision.hh:41