SimbodyCollision.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.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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16 */
17 
18 #ifndef GAZEBO_PHYSICS_SIMBODY_SIMBODYCOLLISION_HH_
19 #define GAZEBO_PHYSICS_SIMBODY_SIMBODYCOLLISION_HH_
20 
21 #include <string>
22 
25 #include "gazebo/util/system.hh"
26 
27 namespace SimTK
28 {
29  class ContactGeometry;
30 }
31 
32 namespace gazebo
33 {
34  namespace physics
35  {
39 
41  class GZ_PHYSICS_VISIBLE SimbodyCollision : public Collision
42  {
44  public: SimbodyCollision(LinkPtr _parent);
45 
47  public: virtual ~SimbodyCollision();
48 
49  // Documentation inherited
50  public: virtual void Load(sdf::ElementPtr _ptr);
51 
52  // Documentation inherited
53  public: virtual void OnPoseChange();
54 
55  // Documentation inherited
56  public: virtual void SetCategoryBits(unsigned int _bits);
57 
58  // Documentation inherited
59  public: virtual void SetCollideBits(unsigned int _bits);
60 
61  // Documentation inherited
62  public: virtual ignition::math::Box BoundingBox() const;
63 
67  public: void SetCollisionShape(SimTK::ContactGeometry *_shape);
68 
71  public: SimTK::ContactGeometry *GetCollisionShape() const;
72 
74  private: SimTK::ContactGeometry *collisionShape;
75  };
77  }
78 }
79 #endif
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
Forward declarations for the common classes.
Definition: Animation.hh:33
Base class for all collision entities.
Definition: Collision.hh:38
Definition: SimbodyCollision.hh:27
default namespace for gazebo
Simbody collisions.
Definition: SimbodyCollision.hh:41