DARTSurfaceParams.hh
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1/*
2 * Copyright (C) 2015 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 *
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11 * distributed under the License is distributed on an "AS IS" BASIS,
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13 * See the License for the specific language governing permissions and
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16*/
17
18#ifndef _GAZEBO_DARTSURFACEPARAMS_HH_
19#define _GAZEBO_DARTSURFACEPARAMS_HH_
20
21#include <sdf/sdf.hh>
22
23#include "gazebo/msgs/msgs.hh"
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
29 namespace physics
30 {
33
35 class DARTSurfaceParamsPrivate;
36
38 class GZ_PHYSICS_VISIBLE DARTSurfaceParams : public SurfaceParams
39 {
42
44 public: virtual ~DARTSurfaceParams();
45
48 public: virtual void Load(sdf::ElementPtr _sdf);
49
50 // Documentation inherited.
51 public: virtual void FillMsg(msgs::Surface &_msg);
52
53 // Documentation inherited.
54 public: virtual void ProcessMsg(const msgs::Surface &_msg);
55
56 // Documentation inherited.
57 public: virtual FrictionPyramidPtr FrictionPyramid() const;
58
61 private: DARTSurfaceParamsPrivate *dataPtr;
62 };
64 }
65}
66#endif
DART surface parameters.
Definition DARTSurfaceParams.hh:39
virtual void FillMsg(msgs::Surface &_msg)
Fill in a surface message.
virtual void ProcessMsg(const msgs::Surface &_msg)
Process a surface message.
virtual FrictionPyramidPtr FrictionPyramid() const
Get access to FrictionPyramid data, if available.
virtual void Load(sdf::ElementPtr _sdf)
Load the contact params.
virtual ~DARTSurfaceParams()
Destructor.
SurfaceParams defines various Surface contact parameters.
Definition SurfaceParams.hh:168
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition PhysicsTypes.hh:165
Forward declarations for the common classes.
Definition Animation.hh:27