Gazebo Rendering

API Reference

8.2.1
COMVisual.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,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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15  *
16  */
17 #ifndef GZ_RENDERING_COMVISUAL_HH_
18 #define GZ_RENDERING_COMVISUAL_HH_
19 
20 #include <string>
21 #include <gz/math/Inertial.hh>
22 #include "gz/rendering/config.hh"
23 #include "gz/rendering/Object.hh"
25 #include "gz/rendering/Visual.hh"
26 
27 namespace gz
28 {
29  namespace rendering
30  {
31  inline namespace GZ_RENDERING_VERSION_NAMESPACE {
32 
36  class GZ_RENDERING_VISIBLE COMVisual :
37  public virtual Visual
38  {
40  public: virtual ~COMVisual();
41 
44  public: virtual void SetInertial(
45  const gz::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 gz::math::Pose3d InertiaPose() const = 0;
58 
61  public: virtual VisualPtr SphereVisual() const = 0;
62  };
63  }
64  }
65 }
66 #endif