DARTRayShape.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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _GAZEBO_DARTRAYSHAPE_HH_
19 #define _GAZEBO_DARTRAYSHAPE_HH_
20 
21 #include <string>
22 
24 #include "gazebo/physics/Shape.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
36  class DARTRayShapePrivate;
37 
39  class GZ_PHYSICS_VISIBLE DARTRayShape : public RayShape
40  {
43  public: explicit DARTRayShape(PhysicsEnginePtr _physicsEngine);
44 
47  public: explicit DARTRayShape(CollisionPtr _collision);
48 
50  public: virtual ~DARTRayShape();
51 
53  public: virtual void Update();
54 
58  public: virtual void GetIntersection(double &_dist, std::string &_entity);
59 
64  public: virtual void SetPoints(const ignition::math::Vector3d &_posStart,
65  const ignition::math::Vector3d &_posEnd);
66 
69  private: DARTRayShapePrivate *dataPtr;
70  };
72  }
73 }
74 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:125
DART wrapper forward declarations and typedefs.
Ray collision.
Definition: DARTRayShape.hh:39
Base class for Ray collision geometry.
Definition: RayShape.hh:35
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113