SimbodyRayShape.hh
Go to the documentation of this file.
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_PHYSICS_SIMBODY_SIMBODYRAYSHAPE_HH_
18#define GAZEBO_PHYSICS_SIMBODY_SIMBODYRAYSHAPE_HH_
19
20#include <string>
22#include "gazebo/util/system.hh"
23
24namespace gazebo
25{
26 namespace physics
27 {
31
33 class GZ_PHYSICS_VISIBLE SimbodyRayShape : public RayShape
34 {
37 public: explicit SimbodyRayShape(PhysicsEnginePtr _physicsEngine);
38
41 public: explicit SimbodyRayShape(CollisionPtr _collision);
42
44 public: virtual ~SimbodyRayShape();
45
46 // Documentation inherited
47 public: virtual void Update();
48
49 // Documentation inherited
50 public: virtual void GetIntersection(double &_dist, std::string &_entity);
51
52 // Documentation inherited
53 public: virtual void SetPoints(const ignition::math::Vector3d &_posStart,
54 const ignition::math::Vector3d &_posEnd);
55
57 private: SimbodyPhysicsPtr physicsEngine;
58 };
60 }
61}
62#endif
Base class for Ray collision geometry.
Definition RayShape.hh:36
Ray shape for simbody.
Definition SimbodyRayShape.hh:34
SimbodyRayShape(PhysicsEnginePtr _physicsEngine)
Constructor.
virtual void GetIntersection(double &_dist, std::string &_entity)
Get the nearest intersection.
virtual void SetPoints(const ignition::math::Vector3d &_posStart, const ignition::math::Vector3d &_posEnd)
Set the ray based on starting and ending points relative to the body.
virtual ~SimbodyRayShape()
Destructor.
SimbodyRayShape(CollisionPtr _collision)
Constructor.
virtual void Update()
Update the ray collision.
boost::shared_ptr< SimbodyPhysics > SimbodyPhysicsPtr
Definition SimbodyTypes.hh:40
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition PhysicsTypes.hh:125
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
Forward declarations for the common classes.
Definition Animation.hh:27