DARTHeightmapShape.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
14 * limitations under the License.
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16*/
17
18#ifndef _GAZEBO_DARTHEIGHTMAPSHAPE_HH_
19#define _GAZEBO_DARTHEIGHTMAPSHAPE_HH_
20
21#include <vector>
22
26#include "gazebo/util/system.hh"
27
28namespace gazebo
29{
30 namespace physics
31 {
33 template<typename HeightType>
35
38
40 class GZ_PHYSICS_VISIBLE DARTHeightmapShape : public HeightmapShape
41 {
44 public: explicit DARTHeightmapShape(DARTCollisionPtr _parent);
45
47 public: virtual ~DARTHeightmapShape();
48
49 // Documentation inerited.
50 public: virtual void Init();
51
52 // Documentation inerited.
53 public: virtual void SetScale(const ignition::math::Vector3d &_scale);
54
58
61 private: using Vector3 =
62 Eigen::Matrix<HeightmapShape::HeightType, 3, 1>;
63 };
65 }
66}
67#endif
Forward declare private data class.
Definition DARTHeightmapShape.hh:34
DART Height map collision.
Definition DARTHeightmapShape.hh:41
virtual void SetScale(const ignition::math::Vector3d &_scale)
Set the scale of the heightmap shape.
virtual void Init()
Initialize the heightmap.
DARTHeightmapShape(DARTCollisionPtr _parent)
Constructor.
virtual ~DARTHeightmapShape()
Destructor.
HeightmapShape collision shape builds a heightmap from an image.
Definition HeightmapShape.hh:46
boost::shared_ptr< DARTCollision > DARTCollisionPtr
Definition DARTTypes.hh:49
Forward declarations for the common classes.
Definition Animation.hh:27