DARTCollision.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.
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef GAZEBO_PHYSICS_DART_DARTCOLLISION_HH_
19 #define GAZEBO_PHYSICS_DART_DARTCOLLISION_HH_
20 
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
32  class DARTCollisionPrivate;
33 
36 
38  class GZ_PHYSICS_VISIBLE DARTCollision : public Collision
39  {
42  public: explicit DARTCollision(LinkPtr _parent);
43 
45  public: virtual ~DARTCollision();
46 
47  // Documentation inherited.
48  public: virtual void Load(sdf::ElementPtr _sdf);
49 
50  // Documentation inherited.
51  public: virtual void Init();
52 
53  // Documentation inherited.
54  public: virtual void Fini();
55 
56  // Documentation inherited.
57  public: virtual void OnPoseChange();
58 
59  // Documentation inherited.
60  public: virtual void SetCategoryBits(unsigned int _bits);
61 
62  // Documentation inherited.
63  public: virtual void SetCollideBits(unsigned int _bits);
64 
67  public: virtual unsigned int GetCategoryBits() const;
68 
71  public: virtual unsigned int GetCollideBits() const;
72 
73  // Documentation inherited.
74  public: virtual ignition::math::Box BoundingBox() const;
75 
78  public: dart::dynamics::BodyNode *GetDARTBodyNode() const;
79 
84  public: void SetDARTCollisionShape(dart::dynamics::Shape *_shape,
85  const bool _placeable = true)
86  GAZEBO_DEPRECATED(8.0);
87 
91  public: void SetDARTCollisionShape(dart::dynamics::ShapePtr _shape,
92  const bool _placeable = true);
93 
96  public: dart::dynamics::Shape *GetDARTCollisionShape() const
97  GAZEBO_DEPRECATED(8.0);
98 
101  public: dart::dynamics::ShapePtr DARTCollisionShape() const;
102 
106  public: DARTSurfaceParamsPtr GetDARTSurface() const;
107 
110  private: DARTCollisionPrivate *dataPtr;
111  };
113  }
114 }
115 #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
default namespace for gazebo
DART wrapper forward declarations and typedefs.
Base class for all DART collisions.
Definition: DARTCollision.hh:38
boost::shared_ptr< DARTSurfaceParams > DARTSurfaceParamsPtr
Definition: DARTTypes.hh:50
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
boost::shared_ptr< Shape > ShapePtr
Definition: PhysicsTypes.hh:141
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.