DARTSurfaceParams.hh
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2  * Copyright (C) 2015 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef _GAZEBO_DARTSURFACEPARAMS_HH_
19 #define _GAZEBO_DARTSURFACEPARAMS_HH_
20 
21 #include <sdf/sdf.hh>
22 
23 #include "gazebo/msgs/msgs.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
35  class DARTSurfaceParamsPrivate;
36 
38  class GZ_PHYSICS_VISIBLE DARTSurfaceParams : public SurfaceParams
39  {
41  public: DARTSurfaceParams();
42 
44  public: virtual ~DARTSurfaceParams();
45 
48  public: virtual void Load(sdf::ElementPtr _sdf);
49 
50  // Documentation inherited.
51  public: virtual void FillMsg(msgs::Surface &_msg);
52 
53  // Documentation inherited.
54  public: virtual void ProcessMsg(const msgs::Surface &_msg);
55 
56  // Documentation inherited.
57  public: virtual FrictionPyramidPtr FrictionPyramid() const;
58 
61  private: DARTSurfaceParamsPrivate *dataPtr;
62  };
64  }
65 }
66 #endif
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition: PhysicsTypes.hh:165
Parameters used for friction pyramid model.
Definition: SurfaceParams.hh:36
Forward declarations for the common classes.
Definition: Animation.hh:33
DART surface parameters.
Definition: DARTSurfaceParams.hh:38
SurfaceParams defines various Surface contact parameters.
Definition: SurfaceParams.hh:167