DARTCollision.hh
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1 /*
2  * Copyright (C) 2014-2016 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.
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _GAZEBO_DARTCOLLISION_HH_
19 #define _GAZEBO_DARTCOLLISION_HH_
20 
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
33  class DARTCollisionPrivate;
34 
37 
39  class GZ_PHYSICS_VISIBLE DARTCollision : public Collision
40  {
43  public: explicit DARTCollision(LinkPtr _parent);
44 
46  public: virtual ~DARTCollision();
47 
48  // Documentation inherited.
49  public: virtual void Load(sdf::ElementPtr _sdf);
50 
51  // Documentation inherited.
52  public: virtual void Init();
53 
54  // Documentation inherited.
55  public: virtual void Fini();
56 
57  // Documentation inherited.
58  public: virtual void OnPoseChange();
59 
60  // Documentation inherited.
61  public: virtual void SetCategoryBits(unsigned int _bits);
62 
63  // Documentation inherited.
64  public: virtual void SetCollideBits(unsigned int _bits);
65 
68  public: virtual unsigned int GetCategoryBits() const;
69 
72  public: virtual unsigned int GetCollideBits() const;
73 
74  // Documentation inherited.
75  public: virtual math::Box GetBoundingBox() const;
76 
79  public: dart::dynamics::BodyNode *GetDARTBodyNode() const;
80 
84  public: void SetDARTCollisionShape(dart::dynamics::Shape *_shape,
85  bool _placeable = true);
86 
88  public: dart::dynamics::Shape *GetDARTCollisionShape() const;
89 
93  public: DARTSurfaceParamsPtr GetDARTSurface() const;
94 
97  private: DARTCollisionPrivate *dataPtr;
98  };
100  }
101 }
102 #endif
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:100
Forward declarations for the common classes.
Definition: Animation.hh:33
Base class for all collision entities.
Definition: Collision.hh:44
Mathematical representation of a box and related functions.
Definition: Box.hh:35
default namespace for gazebo
DART wrapper forward declarations and typedefs.
Base class for all DART collisions.
Definition: DARTCollision.hh:39
boost::shared_ptr< DARTSurfaceParams > DARTSurfaceParamsPtr
Definition: DARTTypes.hh:49
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.