PhysicsTypes.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GAZEBO_PHYSICS_PHYSICSTYPES_HH_
18#define GAZEBO_PHYSICS_PHYSICSTYPES_HH_
19
20#include <map>
21#include <memory>
22#include <string>
23#include <vector>
24#include <boost/shared_ptr.hpp>
25
26#include "gazebo/util/system.hh"
27
31namespace gazebo
32{
34 namespace physics
35 {
36 class Base;
37 class Entity;
38 class World;
39 class Model;
40 class Actor;
41 class Light;
42 class Link;
43 class Collision;
44 class FrictionPyramid;
45 class Gripper;
46 class Joint;
47 class JointController;
48 class Contact;
49 class PresetManager;
50 class UserCmd;
51 class UserCmdManager;
52 class PhysicsEngine;
53 class Wind;
54 class Atmosphere;
55 class Mass;
56 class Road;
57 class Shape;
58 class RayShape;
59 class MultiRayShape;
60 class Inertial;
61 class SurfaceParams;
62 class BoxShape;
63 class CylinderShape;
64 class MeshShape;
65 class SphereShape;
66 class PlaneShape;
67 class HeightmapShape;
68 class PolylineShape;
69 class ModelState;
70 class LightState;
71 class LinkState;
72 class JointState;
73 class TrajectoryInfo;
74
77 typedef boost::shared_ptr<Base> BasePtr;
78
81 typedef boost::shared_ptr<Contact> ContactPtr;
82
85 typedef boost::shared_ptr<Entity> EntityPtr;
86
89 typedef boost::shared_ptr<World> WorldPtr;
90
93 typedef boost::shared_ptr<Model> ModelPtr;
94
97 typedef boost::shared_ptr<Actor> ActorPtr;
98
101 typedef std::shared_ptr<TrajectoryInfo> TrajectoryInfoPtr;
102
105 typedef boost::shared_ptr<Light> LightPtr;
106
109 typedef boost::shared_ptr<Link> LinkPtr;
110
113 typedef boost::shared_ptr<Collision> CollisionPtr;
114
117 typedef boost::shared_ptr<Joint> JointPtr;
118
121 typedef boost::shared_ptr<JointController> JointControllerPtr;
122
125 typedef boost::shared_ptr<PhysicsEngine> PhysicsEnginePtr;
126
129 typedef boost::shared_ptr<PresetManager> PresetManagerPtr;
130
133 typedef std::shared_ptr<UserCmd> UserCmdPtr;
134
137 typedef std::shared_ptr<UserCmdManager> UserCmdManagerPtr;
138
141 typedef boost::shared_ptr<Shape> ShapePtr;
142
145 typedef boost::shared_ptr<RayShape> RayShapePtr;
146
149 typedef boost::shared_ptr<HeightmapShape> HeightmapShapePtr;
150
153 typedef boost::shared_ptr<MultiRayShape> MultiRayShapePtr;
154
157 typedef boost::shared_ptr<Inertial> InertialPtr;
158
161 typedef boost::shared_ptr<Road> RoadPtr;
162
165 typedef boost::shared_ptr<FrictionPyramid> FrictionPyramidPtr;
166
169 typedef boost::shared_ptr<SurfaceParams> SurfaceParamsPtr;
170
173 typedef boost::shared_ptr<BoxShape> BoxShapePtr;
174
177 typedef boost::shared_ptr<CylinderShape> CylinderShapePtr;
178
181 typedef boost::shared_ptr<PlaneShape> PlaneShapePtr;
182
185 typedef boost::shared_ptr<MeshShape> MeshShapePtr;
186
189 typedef boost::shared_ptr<PolylineShape> PolylineShapePtr;
190
193 typedef boost::shared_ptr<SphereShape> SphereShapePtr;
194
197 typedef boost::shared_ptr<Gripper> GripperPtr;
198
201 typedef std::vector<BasePtr> Base_V;
202
205 typedef std::vector<ModelPtr> Model_V;
206
209 typedef std::vector<ActorPtr> Actor_V;
210
213 typedef std::vector<JointPtr> Joint_V;
214
217 typedef std::vector<JointControllerPtr> JointController_V;
218
221 typedef std::vector<LightPtr> Light_V;
222
225 typedef std::vector<LinkPtr> Link_V;
226
229 typedef std::vector<CollisionPtr> Collision_V;
230
233 typedef std::map<std::string, ModelState> ModelState_M;
234
237 typedef std::map<std::string, LightState> LightState_M;
238
241 typedef std::map<std::string, LinkState> LinkState_M;
242
245 typedef std::map<std::string, JointState> JointState_M;
246
247 #ifndef GZ_COLLIDE_BITS
248
252 #define GZ_ALL_COLLIDE 0x0FFFFFFF
253
256 #define GZ_NONE_COLLIDE 0x00000000
257
260 #define GZ_FIXED_COLLIDE 0x00000001
261
264 #define GZ_SENSOR_COLLIDE 0x00000002
265
268 #define GZ_GHOST_COLLIDE 0x10000000
269
270 #endif
271 }
272}
273#endif
Used to render a strip of road.
std::vector< ModelPtr > Model_V
Definition PhysicsTypes.hh:205
std::vector< BasePtr > Base_V
Definition PhysicsTypes.hh:201
boost::shared_ptr< Light > LightPtr
Definition PhysicsTypes.hh:105
std::vector< JointControllerPtr > JointController_V
Definition PhysicsTypes.hh:217
boost::shared_ptr< JointController > JointControllerPtr
Definition PhysicsTypes.hh:121
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition PhysicsTypes.hh:125
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
std::vector< ActorPtr > Actor_V
Definition PhysicsTypes.hh:209
boost::shared_ptr< Actor > ActorPtr
Definition PhysicsTypes.hh:97
boost::shared_ptr< SphereShape > SphereShapePtr
Definition PhysicsTypes.hh:193
boost::shared_ptr< PlaneShape > PlaneShapePtr
Definition PhysicsTypes.hh:181
boost::shared_ptr< Gripper > GripperPtr
Definition PhysicsTypes.hh:197
boost::shared_ptr< Inertial > InertialPtr
Definition PhysicsTypes.hh:157
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
boost::shared_ptr< SurfaceParams > SurfaceParamsPtr
Definition PhysicsTypes.hh:169
std::shared_ptr< UserCmd > UserCmdPtr
Definition PhysicsTypes.hh:133
boost::shared_ptr< HeightmapShape > HeightmapShapePtr
Definition PhysicsTypes.hh:149
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
boost::shared_ptr< Shape > ShapePtr
Definition PhysicsTypes.hh:141
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition PhysicsTypes.hh:165
std::shared_ptr< UserCmdManager > UserCmdManagerPtr
Definition PhysicsTypes.hh:137
boost::shared_ptr< BoxShape > BoxShapePtr
Definition PhysicsTypes.hh:173
std::map< std::string, ModelState > ModelState_M
Definition PhysicsTypes.hh:233
boost::shared_ptr< MultiRayShape > MultiRayShapePtr
Definition PhysicsTypes.hh:153
std::vector< JointPtr > Joint_V
Definition PhysicsTypes.hh:213
std::vector< LightPtr > Light_V
Definition PhysicsTypes.hh:221
std::map< std::string, LinkState > LinkState_M
Definition PhysicsTypes.hh:241
boost::shared_ptr< PresetManager > PresetManagerPtr
Definition PhysicsTypes.hh:129
std::map< std::string, LightState > LightState_M
Definition PhysicsTypes.hh:237
boost::shared_ptr< CylinderShape > CylinderShapePtr
Definition PhysicsTypes.hh:177
boost::shared_ptr< Entity > EntityPtr
Definition PhysicsTypes.hh:85
boost::shared_ptr< RayShape > RayShapePtr
Definition PhysicsTypes.hh:145
boost::shared_ptr< PolylineShape > PolylineShapePtr
Definition PhysicsTypes.hh:189
std::shared_ptr< TrajectoryInfo > TrajectoryInfoPtr
Definition PhysicsTypes.hh:101
boost::shared_ptr< MeshShape > MeshShapePtr
Definition PhysicsTypes.hh:185
std::map< std::string, JointState > JointState_M
Definition PhysicsTypes.hh:245
std::vector< LinkPtr > Link_V
Definition PhysicsTypes.hh:225
boost::shared_ptr< Road > RoadPtr
Definition PhysicsTypes.hh:161
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
boost::shared_ptr< Contact > ContactPtr
Definition PhysicsTypes.hh:81
std::vector< CollisionPtr > Collision_V
Definition PhysicsTypes.hh:229
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
boost::shared_ptr< Joint > JointPtr
Definition PhysicsTypes.hh:117
Forward declarations for the common classes.
Definition Animation.hh:27