DARTMultiRayShape.hh
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1 /*
2  * Copyright (C) 2014 Open Source Robotics Foundation
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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_PHYSICS_DART_DARTMULTIRAYSHAPE_HH_
18 #define GAZEBO_PHYSICS_DART_DARTMULTIRAYSHAPE_HH_
19 
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
30 
32  class DARTMultiRayShapePrivate;
33 
35  class GZ_PHYSICS_VISIBLE DARTMultiRayShape : public MultiRayShape
36  {
40  public: explicit DARTMultiRayShape(CollisionPtr _parent)
41  GAZEBO_DEPRECATED(8.0);
42 
45  public: explicit DARTMultiRayShape(DARTCollisionPtr _parent);
46 
48  public: virtual ~DARTMultiRayShape();
49 
50  // Documentation inherited.
51  public: virtual void UpdateRays();
52 
56  protected: void AddRay(const ignition::math::Vector3d &_start,
57  const ignition::math::Vector3d &_end);
58 
61  private: DARTMultiRayShapePrivate *dataPtr;
62  };
64  }
65 }
66 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner...
Definition: MultiRayShape.hh:42
DART specific version of MultiRayShape.
Definition: DARTMultiRayShape.hh:35
DART wrapper forward declarations and typedefs.
boost::shared_ptr< DARTCollision > DARTCollisionPtr
Definition: DARTTypes.hh:48
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113