COMVisual.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_RENDERING_COMVISUAL_HH_
18#define GAZEBO_RENDERING_COMVISUAL_HH_
19
20#include <string>
21#include <ignition/math/Pose3.hh>
22
24#include "gazebo/util/system.hh"
25
26namespace gazebo
27{
28 namespace rendering
29 {
32
35 class GZ_RENDERING_VISIBLE COMVisual : public Visual
36 {
40 public: COMVisual(const std::string &_name, VisualPtr _vis);
41
43 public: ~COMVisual();
44
47 public: virtual void Load(sdf::ElementPtr _elem);
48 using Visual::Load;
49
52 public: virtual void Load(ConstLinkPtr &_msg);
53
56 public: ignition::math::Pose3d InertiaPose() const;
57
59 private: void Load();
60 };
62 }
63}
64#endif
rendering
Definition RenderEngine.hh:31
Basic Center of Mass visualization.
Definition COMVisual.hh:36
virtual void Load(ConstLinkPtr &_msg)
Load from a message.
ignition::math::Pose3d InertiaPose() const
Get inertia pose.
COMVisual(const std::string &_name, VisualPtr _vis)
Constructor.
virtual void Load(sdf::ElementPtr _elem)
Load the Visual from an SDF pointer.
A renderable object.
Definition Visual.hh:61
virtual void Load()
Load the visual with default parameters.
std::shared_ptr< Visual > VisualPtr
Definition RenderTypes.hh:114
Forward declarations for the common classes.
Definition Animation.hh:27