18#ifndef _GAZEBO_DARTMODEL_HH_
19#define _GAZEBO_DARTMODEL_HH_
33 class DARTModelPrivate;
52 public:
virtual void Load(sdf::ElementPtr _sdf);
55 public:
virtual void Init();
61 public:
virtual void Fini();
65 const std::string &_name,
const std::string &_type,
93 public: dart::simulation::WorldPtr
DARTWorld(
void)
const;
97 private: DARTModelPrivate *dataPtr;
DART wrapper forward declarations and typedefs.
DART model class.
Definition DARTModel.hh:43
virtual JointPtr CreateJoint(sdf::ElementPtr _sdf)
Create a joint for this model.
virtual ~DARTModel()
Destructor.
virtual void Fini()
Finalize the model.
virtual void Init()
Initialize the model.
DARTPhysicsPtr GetDARTPhysics(void) const
Get pointer to DART Physics.
virtual bool RemoveJoint(const std::string &_name)
Remove a joint for this model.
dart::simulation::WorldPtr DARTWorld(void) const
Get pointer to DART World.
DARTModel(BasePtr _parent)
Constructor.
virtual void Load(sdf::ElementPtr _sdf)
Load the entity.
virtual JointPtr CreateJoint(const std::string &_name, const std::string &_type, physics::LinkPtr _parent, physics::LinkPtr _child)
Create a joint for this model.
dart::dynamics::SkeletonPtr DARTSkeleton()
Get pointer to DART Skeleton.
virtual void Update()
Update the object.
A model is a collection of links, joints, and plugins.
Definition Model.hh:60
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
boost::shared_ptr< DARTPhysics > DARTPhysicsPtr
Definition DARTTypes.hh:45
boost::shared_ptr< Joint > JointPtr
Definition PhysicsTypes.hh:117
Forward declarations for the common classes.
Definition Animation.hh:27