SimbodyMultiRayShape.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_PHYISCS_SIMBODY_SIMBODYMULTIRAYSHAPE_HH_
18#define GAZEBO_PHYISCS_SIMBODY_SIMBODYMULTIRAYSHAPE_HH_
19
21#include "gazebo/util/system.hh"
22
23namespace gazebo
24{
25 namespace physics
26 {
30
32 class GZ_PHYSICS_VISIBLE SimbodyMultiRayShape : public MultiRayShape
33 {
35 public: explicit SimbodyMultiRayShape(CollisionPtr parent);
36
38 public: virtual ~SimbodyMultiRayShape();
39
40 // Documentation inherited.
41 public: virtual void UpdateRays();
42
43 // Documentation inherited.
44 protected: virtual void AddRay(const ignition::math::Vector3d &_start,
45 const ignition::math::Vector3d &_end);
46
48 private: SimbodyPhysicsPtr physicsEngine;
49 };
51 }
52}
53#endif
BasePtr parent
Parent of this entity.
Definition Base.hh:334
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner.
Definition MultiRayShape.hh:40
Simbody specific version of MultiRayShape.
Definition SimbodyMultiRayShape.hh:33
virtual void UpdateRays()
Method for updating the rays.
SimbodyMultiRayShape(CollisionPtr parent)
Constructor.
virtual ~SimbodyMultiRayShape()
Destructor.
virtual void AddRay(const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end)
Add a ray to the collision.
boost::shared_ptr< SimbodyPhysics > SimbodyPhysicsPtr
Definition SimbodyTypes.hh:40
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
Forward declarations for the common classes.
Definition Animation.hh:27