SimbodyRayShape.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
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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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15  *
16 */
17 #ifndef GAZEBO_PHYSICS_SIMBODY_SIMBODYRAYSHAPE_HH_
18 #define GAZEBO_PHYSICS_SIMBODY_SIMBODYRAYSHAPE_HH_
19 
20 #include <string>
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
31 
33  class GZ_PHYSICS_VISIBLE SimbodyRayShape : public RayShape
34  {
37  public: SimbodyRayShape(PhysicsEnginePtr _physicsEngine);
38 
41  public: SimbodyRayShape(CollisionPtr _collision);
42 
44  public: virtual ~SimbodyRayShape();
45 
46  // Documentation inherited
47  public: virtual void Update();
48 
49  // Documentation inherited
50  public: virtual void GetIntersection(double &_dist, std::string &_entity);
51 
52  // Documentation inherited
53  public: virtual void SetPoints(const ignition::math::Vector3d &_posStart,
54  const ignition::math::Vector3d &_posEnd);
55 
57  private: SimbodyPhysicsPtr physicsEngine;
58  };
60  }
61 }
62 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Ray shape for simbody.
Definition: SimbodyRayShape.hh:33
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:125
boost::shared_ptr< SimbodyPhysics > SimbodyPhysicsPtr
Definition: SimbodyTypes.hh:40
Base class for Ray collision geometry.
Definition: RayShape.hh:35
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113