SimbodyMultiRayShape.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_PHYISCS_SIMBODY_SIMBODYMULTIRAYSHAPE_HH_
18 #define GAZEBO_PHYISCS_SIMBODY_SIMBODYMULTIRAYSHAPE_HH_
19 
21 #include "gazebo/util/system.hh"
22 
23 namespace gazebo
24 {
25  namespace physics
26  {
30 
32  class GZ_PHYSICS_VISIBLE SimbodyMultiRayShape : public MultiRayShape
33  {
35  public: SimbodyMultiRayShape(CollisionPtr parent);
36 
38  public: virtual ~SimbodyMultiRayShape();
39 
40  // Documentation inherited.
41  public: virtual void UpdateRays();
42 
43  // Documentation inherited.
44  protected: virtual void AddRay(const ignition::math::Vector3d &_start,
45  const ignition::math::Vector3d &_end);
46 
48  private: SimbodyPhysicsPtr physicsEngine;
49  };
51  }
52 }
53 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner...
Definition: MultiRayShape.hh:42
boost::shared_ptr< SimbodyPhysics > SimbodyPhysicsPtr
Definition: SimbodyTypes.hh:40
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
Simbody specific version of MultiRayShape.
Definition: SimbodyMultiRayShape.hh:32