ContactVisual.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 _CONTACTVISUAL_HH_
19#define _CONTACTVISUAL_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
39 class GZ_RENDERING_VISIBLE ContactVisual : public Visual
40 {
46 public: ContactVisual(const std::string &_name, VisualPtr _vis,
47 const std::string &_topicName);
48
50 public: virtual ~ContactVisual();
51
54 public: void SetEnabled(bool _enabled);
55
57 private: void Update();
58
61 private: void OnContact(ConstContactsPtr &_msg);
62
64 private: void CreateNewPoint();
65 };
67 }
68}
69#endif
rendering
Definition RenderEngine.hh:31
Contact visualization.
Definition ContactVisual.hh:40
void SetEnabled(bool _enabled)
Set to true to enable contact visualization.
ContactVisual(const std::string &_name, VisualPtr _vis, const std::string &_topicName)
Constructor.
virtual ~ContactVisual()
Destructor.
A renderable object.
Definition Visual.hh:61
std::shared_ptr< Visual > VisualPtr
Definition RenderTypes.hh:114
Forward declarations for the common classes.
Definition Animation.hh:27