COMVisual.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.
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17 #ifndef GAZEBO_RENDERING_COMVISUAL_HH_
18 #define GAZEBO_RENDERING_COMVISUAL_HH_
19 
20 #include <string>
21 #include <ignition/math/Pose3.hh>
22 
23 #include "gazebo/math/Pose.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace rendering
30  {
33 
36  class GZ_RENDERING_VISIBLE COMVisual : public Visual
37  {
41  public: COMVisual(const std::string &_name, VisualPtr _vis);
42 
44  public: ~COMVisual();
45 
48  public: virtual void Load(sdf::ElementPtr _elem);
49  using Visual::Load;
50 
53  public: virtual void Load(ConstLinkPtr &_msg);
54 
58  public: math::Pose GetInertiaPose() const GAZEBO_DEPRECATED(8.0);
59 
62  public: ignition::math::Pose3d InertiaPose() const;
63 
65  private: void Load();
66  };
68  }
69 }
70 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Encapsulates a position and rotation in three space.
Definition: Pose.hh:42
Basic Center of Mass visualization.
Definition: COMVisual.hh:36
A renderable object.
Definition: Visual.hh:63
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:113
virtual void Load()
Load the visual with default parameters.