Gazebo Rendering

API Reference

7.4.2
gz/rendering/InertiaVisual.hh
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1 /*
2  * Copyright (C) 2021 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
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
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13  * See the License for the specific language governing permissions and
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15  *
16  */
17 #ifndef GZ_RENDERING_INERTIAVISUAL_HH_
18 #define GZ_RENDERING_INERTIAVISUAL_HH_
19 
20 #include <gz/math/Inertial.hh>
21 #include "gz/rendering/config.hh"
22 #include "gz/rendering/Object.hh"
24 #include "gz/rendering/Visual.hh"
25 
26 namespace gz
27 {
28  namespace rendering
29  {
30  inline namespace GZ_RENDERING_VERSION_NAMESPACE {
31 
35  class GZ_RENDERING_VISIBLE InertiaVisual :
36  public virtual Visual
37  {
39  public: virtual ~InertiaVisual();
40 
43  public: virtual void SetInertial(
44  const gz::math::Inertiald &_inertial) = 0;
45 
49  public: virtual void Load(const gz::math::Pose3d &_pose,
50  const gz::math::Vector3d &_scale) = 0;
51 
54  public: virtual VisualPtr BoxVisual() const = 0;
55  };
56  }
57  }
58 }
59 #endif