DARTMultiRayShape.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
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16*/
17#ifndef GAZEBO_PHYSICS_DART_DARTMULTIRAYSHAPE_HH_
18#define GAZEBO_PHYSICS_DART_DARTMULTIRAYSHAPE_HH_
19
22#include "gazebo/util/system.hh"
23
24namespace gazebo
25{
26 namespace physics
27 {
30
32 class DARTMultiRayShapePrivate;
33
35 class GZ_PHYSICS_VISIBLE DARTMultiRayShape : public MultiRayShape
36 {
39 public: explicit DARTMultiRayShape(DARTCollisionPtr _parent);
40
42 public: virtual ~DARTMultiRayShape();
43
44 // Documentation inherited.
45 public: virtual void UpdateRays();
46
50 protected: void AddRay(const ignition::math::Vector3d &_start,
51 const ignition::math::Vector3d &_end);
52
55 private: DARTMultiRayShapePrivate *dataPtr;
56 };
58 }
59}
60#endif
DART wrapper forward declarations and typedefs.
DART specific version of MultiRayShape.
Definition DARTMultiRayShape.hh:36
void AddRay(const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end)
Add a ray to the collision.
DARTMultiRayShape(DARTCollisionPtr _parent)
Constructor.
virtual ~DARTMultiRayShape()
Destructor.
virtual void UpdateRays()
Method for updating the rays.
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner.
Definition MultiRayShape.hh:40
boost::shared_ptr< DARTCollision > DARTCollisionPtr
Definition DARTTypes.hh:49
Forward declarations for the common classes.
Definition Animation.hh:27