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,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
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"
25
26namespace 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