DARTModel.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,
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13  * See the License for the specific language governing permissions and
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16 */
17 
18 #ifndef _GAZEBO_DARTMODEL_HH_
19 #define _GAZEBO_DARTMODEL_HH_
20 
23 #include "gazebo/physics/Model.hh"
24 #include "gazebo/util/system.hh"
25 
26 namespace gazebo
27 {
28  namespace physics
29  {
31  class DARTModelPrivate;
32 
37 
40  class GZ_PHYSICS_VISIBLE DARTModel : public Model
41  {
44  public: explicit DARTModel(BasePtr _parent);
45 
47  public: virtual ~DARTModel();
48 
49  // Documentation inherited.
50  public: virtual void Load(sdf::ElementPtr _sdf);
51 
52  // Documentation inherited.
53  public: virtual void Init();
54 
55  // Documentation inherited.
56  public: virtual void Update();
57 
58  // Documentation inherited.
59  public: virtual void Fini();
60 
62  public: void BackupState();
63 
65  public: void RestoreState();
66 
70  public: dart::dynamics::Skeleton *GetDARTSkeleton()
71  GAZEBO_DEPRECATED(8.0);
72 
75  public: dart::dynamics::SkeletonPtr DARTSkeleton();
76 
79  public: DARTPhysicsPtr GetDARTPhysics(void) const;
80 
84  public: dart::simulation::World *GetDARTWorld(void) const
85  GAZEBO_DEPRECATED(8.0);
86 
89  public: dart::simulation::WorldPtr DARTWorld(void) const;
90 
93  private: DARTModelPrivate *dataPtr;
94  };
96  }
97 }
98 #endif
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
Forward declarations for the common classes.
Definition: Animation.hh:33
DART model class.
Definition: DARTModel.hh:40
A model is a collection of links, joints, and plugins.
Definition: Model.hh:59
DART wrapper forward declarations and typedefs.
boost::shared_ptr< DARTPhysics > DARTPhysicsPtr
Definition: DARTTypes.hh:42
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77