Gazebo Rendering

API Reference

6.6.3
gz/rendering/COMVisual.hh
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17 #ifndef IGNITION_RENDERING_COMVISUAL_HH_
18 #define IGNITION_RENDERING_COMVISUAL_HH_
19 
20 #include <string>
21 #include <ignition/math/Inertial.hh>
26 
27 namespace ignition
28 {
29  namespace rendering
30  {
31  inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
32 
36  class IGNITION_RENDERING_VISIBLE COMVisual :
37  public virtual Visual
38  {
40  public: virtual ~COMVisual() {}
41 
44  public: virtual void SetInertial(
45  const ignition::math::Inertiald &_inertial) = 0;
46 
49  public: virtual void SetMass(double _mass) = 0;
50 
53  public: virtual double Mass() const = 0;
54 
57  public: virtual ignition::math::Pose3d InertiaPose() const = 0;
58 
61  public: virtual VisualPtr SphereVisual() const = 0;
62  };
63  }
64  }
65 }
66 #endif
STL class.
virtual void SetMass(double _mass)=0
Set the mass of the parent.
virtual double Mass() const =0
Get the mass of the parent.
Represents a center of mass visual.
Definition: gz/rendering/COMVisual.hh:36
Represents a visual node in a scene graph. A Visual is the only node that can have Geometry and other...
Definition: gz/rendering/Visual.hh:33
virtual ignition::math::Pose3d InertiaPose() const =0
Get the inertia pose.
virtual void SetInertial(const ignition::math::Inertiald &_inertial)=0
Set the inertial component of the visual.
virtual ~COMVisual()
Destructor.
Definition: gz/rendering/COMVisual.hh:40
virtual VisualPtr SphereVisual() const =0
Get the sphere visual.