Gazebo Physics

API Reference

7.4.0
GetRayIntersection.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef GZ_PHYSICS_GETRAYINTERSECTION_HH_
19 #define GZ_PHYSICS_GETRAYINTERSECTION_HH_
20 
23 #include <gz/physics/Geometry.hh>
25 
26 namespace gz
27 {
28 namespace physics
29 {
32 class GZ_PHYSICS_VISIBLE GetRayIntersectionFromLastStepFeature
33  : public virtual FeatureWithRequirements<ForwardStep>
34 {
35  public: template <typename PolicyT>
37  {
38  public: using Scalar = typename PolicyT::Scalar;
39  public: using VectorType =
40  typename FromPolicy<PolicyT>::template Use<LinearVector>;
41 
44 
47 
50  };
51 
52  public: template <typename PolicyT, typename FeaturesT>
53  class World : public virtual Feature::World<PolicyT, FeaturesT>
54  {
55  public: using VectorType =
56  typename FromPolicy<PolicyT>::template Use<LinearVector>;
58  public: using RayIntersectionData =
60 
65  const VectorType &_from, const VectorType &_to) const;
66  };
67 
68  public: template <typename PolicyT>
69  class Implementation : public virtual Feature::Implementation<PolicyT>
70  {
72  public: using VectorType =
73  typename FromPolicy<PolicyT>::template Use<LinearVector>;
74 
76  const Identity &_worldID,
77  const VectorType &_from,
78  const VectorType &_to) const = 0;
79  };
80 };
81 }
82 }
83 
84 #include "gz/physics/detail/GetRayIntersection.hh"
85 
86 #endif /* end of include guard: GZ_PHYSICS_GETRAYINTERSECTION_HH_ */