JointVisual.hh
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2  * Copyright (C) 2012 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_RENDERING_JOINTVISUAL_HH_
19 #define GAZEBO_RENDERING_JOINTVISUAL_HH_
20 
21 #include <string>
22 
23 #include <ignition/math/Pose3.hh>
24 
25 #include "gazebo/msgs/MessageTypes.hh"
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace rendering
32  {
35 
38  class GZ_RENDERING_VISIBLE JointVisual : public Visual
39  {
43  public: JointVisual(const std::string &_name, VisualPtr _vis);
44 
46  public: virtual ~JointVisual();
47 
50  public: void Load(ConstJointPtr &_msg);
51  using Visual::Load;
52 
54  public: virtual void Fini();
55 
63  public: void Load(ConstJointPtr &_msg, const math::Pose &_worldPose)
64  GAZEBO_DEPRECATED(8.0);
65 
72  public: void Load(ConstJointPtr &_msg,
73  const ignition::math::Pose3d &_worldPose);
74 
81  public: ArrowVisualPtr CreateAxis(const ignition::math::Vector3d &_axis,
82  const bool _useParentFrame, const msgs::Joint::Type &_type);
83 
91  public: ArrowVisualPtr CreateAxis(const math::Vector3 &_axis,
92  bool _useParentFrame, msgs::Joint::Type _type) GAZEBO_DEPRECATED(8.0);
93 
94  // Documentation Inherited.
95  public: virtual void SetVisible(bool _visible, bool _cascade = true);
96 
99  public: void UpdateFromMsg(ConstJointPtr &_msg);
100 
107  public: void UpdateAxis(ArrowVisualPtr _arrowVisual,
108  const ignition::math::Vector3d &_axis, const bool _useParentFrame,
109  const msgs::Joint::Type &_type);
110 
118  public: void UpdateAxis(ArrowVisualPtr _arrowVisual,
119  const math::Vector3 &_axis, bool _useParentFrame,
120  msgs::Joint::Type _type) GAZEBO_DEPRECATED(8.0);
121 
124  public: JointVisualPtr GetParentAxisVisual() const;
125 
129  public: ArrowVisualPtr GetArrowVisual() const;
130  };
132  }
133 }
134 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Encapsulates a position and rotation in three space.
Definition: Pose.hh:42
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:44
std::shared_ptr< ArrowVisual > ArrowVisualPtr
Definition: RenderTypes.hh:149
A renderable object.
Definition: Visual.hh:63
Visualization for joints.
Definition: JointVisual.hh:38
std::shared_ptr< JointVisual > JointVisualPtr
Definition: RenderTypes.hh:141
#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.