ODEHeightmapShape.hh
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1 /*
2  * Copyright (C) 2012 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.
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17 #ifndef GAZEBO_PHYSICS_ODE_ODEHEIGHTMAPSHAPE_HH_
18 #define GAZEBO_PHYSICS_ODE_ODEHEIGHTMAPSHAPE_HH_
19 
20 #include <vector>
21 
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
35  class GZ_PHYSICS_VISIBLE ODEHeightmapShape : public HeightmapShape
36  {
39  public: ODEHeightmapShape(CollisionPtr _parent);
40 
42  public: virtual ~ODEHeightmapShape();
43 
44  // Documentation inerited.
45  public: virtual void Init();
46 
51  private: static dReal GetHeightCallback(void *_data, int _x, int _y);
52 
54  private: dHeightfieldDataID odeData;
55  };
57  }
58 }
59 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
HeightmapShape collision shape builds a heightmap from an image.
Definition: HeightmapShape.hh:46
ODE Height map collision.
Definition: ODEHeightmapShape.hh:35
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113