WrenchVisual.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_RENDERING_WRENCHVISUAL_HH_
19#define GAZEBO_RENDERING_WRENCHVISUAL_HH_
20
21#include <string>
22
23#include "gazebo/msgs/MessageTypes.hh"
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
29 namespace rendering
30 {
33
38 class GZ_RENDERING_VISIBLE WrenchVisual : public Visual
39 {
44 public: WrenchVisual(const std::string &_name, VisualPtr _vis,
45 const std::string &_topicName);
46
48 public: virtual ~WrenchVisual();
49
52 public: void Load(ConstJointPtr &_msg);
53 using Visual::Load;
54
55 // Documentation inherited
56 public: void Fini();
57
60 public: void SetEnabled(bool _enabled);
61
63 private: void OnMsg(ConstWrenchStampedPtr &_msg);
64
66 private: void Update();
67 };
69 }
70}
71#endif
rendering
Definition RenderEngine.hh:31
A renderable object.
Definition Visual.hh:61
virtual void Load()
Load the visual with default parameters.
Visualization for wrench data.
Definition WrenchVisual.hh:39
void Fini()
Helper for the destructor.
WrenchVisual(const std::string &_name, VisualPtr _vis, const std::string &_topicName)
Constructor.
void Load(ConstJointPtr &_msg)
Load the visual based on a message.
void SetEnabled(bool _enabled)
Set to true to enable wrench visualization.
virtual ~WrenchVisual()
Destructor.
std::shared_ptr< Visual > VisualPtr
Definition RenderTypes.hh:114
Forward declarations for the common classes.
Definition Animation.hh:27