Gazebo Physics

API Reference

7.4.0
GetContacts.hh
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1 /*
2  * Copyright (C) 2019 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
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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 GZ_PHYSICS_GETCONTACTS_HH_
19 #define GZ_PHYSICS_GETCONTACTS_HH_
20 
21 #include <vector>
24 #include <gz/physics/Geometry.hh>
26 
27 namespace gz
28 {
29 namespace physics
30 {
33 class GZ_PHYSICS_VISIBLE GetContactsFromLastStepFeature
34  : public virtual FeatureWithRequirements<ForwardStep>
35 {
36  public: template <typename PolicyT>
38  {
39  using Scalar = typename PolicyT::Scalar;
40  using VectorType = typename FromPolicy<PolicyT>::template Use<Vector>;
41 
50  };
51 
52  public: template <typename PolicyT, typename FeaturesT>
53  class World : public virtual Feature::World<PolicyT, FeaturesT>
54  {
55  public: using Scalar = typename PolicyT::Scalar;
56  public: using ShapePtrType = ShapePtr<PolicyT, FeaturesT>;
57  public: using VectorType =
58  typename FromPolicy<PolicyT>::template Use<Vector>;
60 
61  public: struct ContactPoint
62  {
69  };
70 
71  public: using Contact = SpecifyData<
72  RequireData<ContactPoint>,
73  ExpectData<ExtraContactData> >;
74 
77  };
78 
79  public: template <typename PolicyT>
80  class Implementation : public virtual Feature::Implementation<PolicyT>
81  {
82  public: using Scalar = typename PolicyT::Scalar;
83  public: using VectorType =
84  typename FromPolicy<PolicyT>::template Use<Vector>;
86 
87  public: struct ContactInternal
88  {
90  Identity collision1;
92  Identity collision2;
97  };
98 
100  const Identity &_worldID) const = 0;
101  };
102 };
103 }
104 }
105 
106 #include "gz/physics/detail/GetContacts.hh"
107 
108 #endif /* end of include guard: GZ_PHYSICS_GETCONTACTS_HH_ */