DARTRayShape.hh
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1/*
2 * Copyright (C) 2014 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
18#ifndef _GAZEBO_DARTRAYSHAPE_HH_
19#define _GAZEBO_DARTRAYSHAPE_HH_
20
21#include <string>
22
26#include "gazebo/util/system.hh"
27
28namespace gazebo
29{
30 namespace physics
31 {
34
36 class DARTRayShapePrivate;
37
39 class GZ_PHYSICS_VISIBLE DARTRayShape : public RayShape
40 {
43 public: explicit DARTRayShape(PhysicsEnginePtr _physicsEngine);
44
47 public: explicit DARTRayShape(CollisionPtr _collision);
48
50 public: virtual ~DARTRayShape();
51
53 public: virtual void Update();
54
58 public: virtual void GetIntersection(double &_dist, std::string &_entity);
59
64 public: virtual void SetPoints(const ignition::math::Vector3d &_posStart,
65 const ignition::math::Vector3d &_posEnd);
66
69 private: DARTRayShapePrivate *dataPtr;
70 };
72 }
73}
74#endif
DART wrapper forward declarations and typedefs.
Ray collision.
Definition DARTRayShape.hh:40
virtual ~DARTRayShape()
Destructor.
DARTRayShape(CollisionPtr _collision)
Constructor.
DARTRayShape(PhysicsEnginePtr _physicsEngine)
Constructor for a global ray.
virtual void GetIntersection(double &_dist, std::string &_entity)
Get the nearest intersection.
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.
virtual void Update()
Update the ray collision.
Base class for Ray collision geometry.
Definition RayShape.hh:36
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition PhysicsTypes.hh:125
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
Forward declarations for the common classes.
Definition Animation.hh:27