RubblePlugin.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
18#ifndef GAZEBO_PLUGINS_RUBBLEPLUGIN_HH_
19#define GAZEBO_PLUGINS_RUBBLEPLUGIN_HH_
20
21#include <string>
22#include <vector>
23
24#include <ignition/math/Pose3.hh>
25
27#include "gazebo/util/system.hh"
28
29namespace gazebo
30{
31 class GZ_PLUGIN_VISIBLE RubblePlugin : public WorldPlugin
32 {
34 public: RubblePlugin();
35
39 public: virtual void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf);
40
42 public: virtual void Init();
43
44 private: void MakeBox(const std::string &_name,
45 ignition::math::Pose3d &_pose,
46 ignition::math::Vector3d &_size,
47 const double _mass);
48
49 private: void MakeCinderBlock(const std::string &_name,
50 ignition::math::Pose3d &_pose,
51 ignition::math::Vector3d &_size,
52 const double _mass);
53
54 // private: void MakeCylinder(const std::string &_name,
55 // ignition::math::Vector3d &_pos,
56 // ignition::math::Vector3d &_size, double _mass);
57
58 private: class Obj
59 {
60 public: ignition::math::Pose3d pose;
61 public: ignition::math::Vector3d size;
62 public: int type;
63 };
64
65 private: class CompoundObj
66 {
67 // center position
68 public: ignition::math::Vector3d pos;
69
70 // Total size
71 public: ignition::math::Vector3d size;
72 public: std::vector<Obj> objects;
73 };
74
75 // private: void MakeCompound(const std::string &_name, CompoundObj &_obj);
76 private: physics::WorldPtr world;
77 };
78}
79#endif
Definition RubblePlugin.hh:32
virtual void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf)
Load the plugin.
virtual void Init()
Initialize the plugin.
RubblePlugin()
Constructor.
A plugin with access to physics::World.
Definition Plugin.hh:279
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
Forward declarations for the common classes.
Definition Animation.hh:27